Role of virtual reality in examining the effect of fear of falling (FOF) on postural stability in individuals without and with Parkinson's disease in Egypt: a mixed-methods feasibility study protocol

BACKGROUND

Falls are common in older people and individuals with neurological conditions. Parkinson's disease (PD) is known for postural instability causing mobility disabilities, falls and reduced quality of life. The fear of falling (FOF), a natural response to unstable balance, can worsen postural control problems. Evaluating FOF relies largely on affected persons' subjective accounts due to limited objective assessment methods available. The aim of this mixed-methods feasibility study is to develop an assessment method for FOF while in motion and walking within virtual environments. This study will assess a range of FOF-related responses, including cognitive factors, neuromuscular response and postural stability.

METHODS AND ANALYSIS

This feasibility study will consist of four phases: the first two phases will include people without PD, while the other two will include people diagnosed with PD. Participants will be assessed for direct and indirect responses to real life, as well as virtual environment walking scenarios that may induce FOF. Data from questionnaires, different neurophysiological assessments, movement and gait parameters, alongside evaluations of usability and acceptability, will be collected. Semistructured interviews involving both participants and research assistants shall take place to elicit their experiences throughout different phases of the assessments undertaken. Demographic data, the scores of assessment scales, as well as feasibility, usability and acceptability of the measurement methods, will be illustrated via descriptive statistics. Movement and gait outcomes, together with neurophysiological data, will be extracted and calculated. Exploring relationships between different factors in the study will be achieved using a regression model. Thematic analysis will be the approach used to manage qualitative data.

ETHICS AND DISSEMINATION

This feasibility study was approved by the Ethics Committee of the Faculty of Physical Therapy, Kafr El Sheikh University, Egypt (number: P.T/NEUR/3/2023/46). The results of this study will be published in a peer-reviewed journal.

TRIAL REGISTRATION NUMBER

ClinicalTrials.gov Registry (NCT05931692).

Sensor positioning for a human activity recognition system using a double layer classifier

This paper describes the development of a human gait activity recognition system. A multi-sensor recognition system, which has been developed for this purpose, was reduced to a single sensor-based recognition system. A sensor election method was devised based on the maximum relevance minimum redundancy feature selector to determine the sensor's optimum position regarding activity recognition. The election method proved that the thigh has the highest contribution to recognize walking, stairs and ramp ascending, and descending activities. A recognition algorithm (which depends mainly on features that are classified by random forest, and selected by a combined feature selector using the maximum relevance minimum redundancy and genetic algorithm) has been modified to compensate the degradation that occurs in the prediction accuracy due to the reduction in the number of sensors. The first modification was implementing a double layer classifier in order to discriminate between the interfered activities. The second modification was adding physical features to the features dictionary used. These modifications succeeded to improve the prediction accuracy to allow a single sensor recognition system to behave in the same manner as a multi-sensor activity recognition system.

A performance comparison between closed form and numerical optimization solutions for humanoid robot walking pattern generation

This article presents the modeling process of the lower part of a humanoid biped robot in terms of kinematic/dynamic states and the creation of a full dynamic simulation environment for a walking robot using MATLAB/Simulink. This article presents two different approaches for offline walking pattern generation: one relying on a closed-form solution of the linear inverted pendulum model (LIPM) mathematical model and another that considers numerical optimization as means of desired output trajectory following for a cart table state-space model. This article then investigates the possibility of introducing solution-dependent modifications to both approaches that could increase the reliability of basic walking pattern generation models in terms of smooth single support–double support phase transitioning and power consumption optimization. The algorithms were coded into offline walking pattern generators for NAO humanoid robot as a valid example and the two approaches were compared against each other in terms of stability, power consumption, and computational effort as well as against their basic unmodified counterparts.

Prediction of human gait activities using wearable sensors

This paper aims to enhance the accuracy of human gait prediction using machine learning algorithms. Three classifiers are used in this paper: XGBoost, Random Forest, and SVM. A predefined dataset is used for feature extraction and classification. Gait prediction is determined during several locomotion activities: sitting (S), level walking (LW), ramp ascend (RA), ramp descend (RD), stair ascend (SA), stair descend (SD), and standing (ST). The results are gained for steady-state (SS) and overall (full) gait cycle. Two sets of sensors are used. The first set uses inertial measurement units only. The second set uses inertial measurement units, electromyography, and electro-goniometers. The comparison is based on prediction accuracy and prediction time. In addition, a comparison between the prediction times of XGBoost with CPU and GPU is introduced due to the easiness of using XGBoost with GPU. The results of this paper can help to choose a classifier for gait prediction that can obtain acceptable accuracy with fewer types of sensors.

Soft Finger Modelling and Co-Simulation Control towards Assistive Exoskeleton Hand Glove

The soft pneumatic actuators of an assistive exoskeleton hand glove are here designed. The design of the actuators focuses on allowing the actuator to perform the required bending and to restrict elongation or twisting of the actuator. The actuator is then modeled using ABAQUS/CAE, a finite element modeling software, and the open loop response of the model is obtained. The parameters of the actuator are then optimized to reach the optimal parameters corresponding to the best performance. Design of experiment (DOE) techniques are then approached to study the robustness of the system. Software-in-the-loop (SiL) is then approached to control the model variables via a proportional-integral-derivative (PID) control generated by FORTRAN code. The link between the two programs is to be achieved by the user subroutine that is written, where the subroutine receives values from ABAQUS/CAE, performs calculations, and passes values back to the software. The controller’s parameters are tuned and then the closed loop response of the model is obtained by setting the desired bending angle and running the model. Furthermore, a concentrated force at the tip of the actuator is added to observe the actuator’s response to external disturbance.

Foot trajectories and loading rates in a transfemoral amputee for six different commercial prosthetic knees: An indication of adaptability

BACKGROUND

The relationship between the functional loading rate and heel velocities was assessed in an active unilateral transfemoral amputee (UTFA) for adaptation to six different commercial prosthetic knees.

OBJECTIVE

To Investigate the short-term process of adaptability for UTFA for two types of prosthetic knees were evaluated, based on the correlation between heel vertical velocity and transient loading rate.

METHODS

The loading rate was calculated from the slope of ground reaction forces (GRF) and the corresponding time. The heel velocities and GRF were obtained by a motion analysis system.

RESULTS

Biomechanical adaptation was evident following a short period of prosthetic knee use based upon the mean transient impact (loading rate) and the heel vertical velocity in slow, normal and fast walking. Trend lines of transient impact versus vertical heel velocity for a set of actively controlled variable damping (microprocessor) and mechanically passive prosthetic knees were all negatively correlated, except for an amputated leg during normal pace and healthy leg during fast pace. For an amputee to adapt well to a prescribed prosthesis excellent coordination between the intact and amputated limbs is required to control placement of the amputated leg to achieve a gait comparable to healthy subjects.

CONCLUSION

There are many factors such as the hip, knee flexion/extension and the ankle plantarflexion/dorsiflexion contributing to the control of the transient impact of an amputee during walking. Therefore, for enhanced control of a prosthetic knee, a multifaceted approach is required. This study showed that UTFA adaption to different prosthetic knees in the short term with slower than self-selected speed is completely achievable based on the negative correlation of ground reaction forces versus linear velocity. Reduced speed may provide the prosthetists with the vision of the amputees' progression of adaptation with a newly prescribed prosthetic knee.

Investigation into reducing anthropomorphic hand degrees of freedom while maintaining human hand grasping functions

Underactuation is widely used when designing anthropomorphic hand, which involves fewer degrees of actuation than degrees of freedom. However, the similarities between coordinated joint movements and movement variances across different grasp tasks have not been suitably examined. This work suggests a systematic approach to identify the actuation strategy with the minimum number for degrees of actuation for anthropomorphic hands. This work evaluates the correlations of coordinated movements in human hands during 23 grasp tasks to suggest actuation strategies for anthropomorphic hands. Our approach proceeds as follows: first, we find the best description for each coordinated joint movement in each grasp task by using multiple linear regression; then, based on the similarities between joint movements, we classify hand joints into groups by using hierarchical cluster analysis; finally, we reduce the dimensionality of each group of joints by employing principal components analysis. The metacarpophalangeal joints and proximal interphalangeal joints have the best and most consistent description of their coordinated movements across all grasp tasks. The thumb metacarpophalangeal and abduction/adduction between the ring and little fingers exhibit relatively high independence of movement. The distal interphalangeal joints show a high degree of independent movement but not for all grasp tasks. Analysis of the results indicates that for the distal interphalangeal joints, their coordinated movements are better explained when all fingers wrap around the object. Our approach fails to provide more information for the other joints. We conclude that 19 degrees of freedom for an anthropomorphic hand can be reduced to 13 degrees of actuation distributed between six groups of joints. The number of degrees of actuation can be further reduced to six by relaxing the dimensionality reduction criteria. Other resolutions are as follows: (a) the joint coupling scheme should be joint-based rather than finger-based and (b) hand designs may need to include finger abduction/adduction movements.

Portable haptic device for lower limb amputee gait feedback: Assessing static and dynamic perceptibility

Loss of joints and severed sensory pathway cause reduced mobility capabilities in lower limb amputees. Although prosthetic devices attempt to restore normal mobility functions, lack of awareness and control of limb placement increase the risk of falling and causing amputee to have high level of visual dependency. Haptic feedback can serve as a cue for gait events during ambulation thus providing sense of awareness of the limb position. This paper presents a wireless wearable skin stretch haptic device to be fitted around the thigh region. The movement profile of the device was characterized and a preliminary work with able-bodied participants and an above-knee amputee to assess the ability of users to perceive the delivered stimuli during static and dynamic mode is reported. Perceptibility was found to be increasing with stretch magnitude. It was observed that a higher magnitude of stretch was needed for the stimuli to be accurately perceived during walking in comparison to static standing, most likely due to the intense movement of the muscle and increased motor skills demand during walking activity.

Prediction of gait events in walking activities with a Bayesian perception system

In this paper, a robust probabilistic formulation for prediction of gait events from human walking activities using wearable sensors is presented. This approach combines the output from a Bayesian perception system with observations from actions and decisions made over time. The perception system makes decisions about the current gait events, while observations from decisions and actions allow to predict the most probable gait event during walking activities. Furthermore, our proposed method is capable to evaluate the accuracy of its predictions, which permits to obtain a better performance and trade-off between accuracy and speed. In our work, we use data from wearable inertial measurement sensors attached to the thigh, shank and foot of human participants. The proposed perception system is validated with multiple experiments for recognition and prediction of gait events using angular velocity data from three walking activities; level-ground, ramp ascent and ramp descent. The results show that our method is fast, accurate and capable to evaluate and adapt its own performance. Overall, our Bayesian perception system demonstrates to be a suitable high-level method for the development of reliable and intelligent assistive and rehabilitation robots.

Real-time gait event detection for lower limb amputees using a single wearable sensor

This paper presents a rule-based real-time gait event/phase detection system (R-GEDS) using a shank mounted inertial measurement unit (IMU) for lower limb amputees during the level ground walking. Development of the algorithm is based on the shank angular velocity in the sagittal plane and linear acceleration signal in the shank longitudinal direction. System performance was evaluated with four control subjects (CS) and one transfemoral amputee (TFA) and the results were validated with four FlexiForce footswitches (FSW). The results showed a data latency for initial contact (IC) and toe off (TO) within a range of ± 40 ms for both CS and TFA. A delay of about 3.7 ± 62 ms for a foot-flat start (FFS) and an early detection of -9.4 ± 66 ms for heel-off (HO) was found for CS. Prosthetic side showed an early detection of -105 ± 95 ms for FFS whereas intact side showed a delay of 141 ±73 ms for HO. The difference in the kinematics of the TFA and CS is one of the potential reasons for high variations in the time difference. Overall, detection accuracy was 99.78% for all the events in both groups. Based on the validated results, the proposed system can be used to accurately detect the temporal gait events in real-time that leads to the detection of gait phase system and therefore, can be utilized in gait analysis applications and the control of lower limb prostheses.

A Real-Time Gait Event Detection for Lower Limb Prosthesis Control and Evaluation

Lower extremity amputees suffer from mobility limitations which will result in a degradation of their quality of life. Wearable sensors are frequently used to assess spatio-temporal, kinematic and kinetic parameters providing the means to establish an interactive control of the amputee-prosthesis-environment system. Gait events and the gait phase detection of an amputee's locomotion are vital for controlling lower limb prosthetic devices. The paper presents an approach to real-time gait event detection for lower limb amputees using a wireless gyroscope attached to the shank when performing level ground and ramp activities. The results were validated using both healthy and amputee subjects and showed that the time differences in identifying Initial Contact (IC) and Toe Off (TO) events were larger in a transfemoral amputee when compared to the control subjects and a transtibial amputee (TTA). Overall, the time difference latency lies within a range of ±50 ms while the detection rate was 100% for all activities. Based on the validated results, the IC and TO events can be accurately detected using the proposed system in both control subjects and amputees when performing activities of daily living and can also be utilized in the clinical setup for rehabilitation and assessing the performance of lower limb prosthesis users.

Real-time gait event detection for transfemoral amputees during ramp ascending and descending

Events and phases detection of the human gait are vital for controlling prosthesis, orthosis and functional electrical stimulation (FES) systems. Wearable sensors are inexpensive, portable and have fast processing capability. They are frequently used to assess spatio-temporal, kinematic and kinetic parameters of the human gait which in turn provide more details about the human voluntary control and ampute-eprosthesis interaction. This paper presents a reliable real-time gait event detection algorithm based on simple heuristics approach, applicable to signals from tri-axial gyroscope for lower limb amputees during ramp ascending and descending. Experimental validation is done by comparing the results of gyroscope signal with footswitches. For healthy subjects, the mean difference between events detected by gyroscope and footswitches is 14 ms and 10.5 ms for initial contact (IC) whereas for toe off (TO) it is -5 ms and -25 ms for ramp up and down respectively. For transfemoral amputee, the error is slightly higher either due to the placement of footswitches underneath the foot or the lack of proper knee flexion and ankle plantarflexion/dorsiflexion during ramp up and down. Finally, repeatability tests showed promising results.

A wearable skin stretch haptic feedback device: Towards improving balance control in lower limb amputees

Haptic feedback to lower limb amputees is essential to maximize the functionality of a prosthetic device by providing information to the user about the interaction with the environment and the position of the prostheses in space. Severed sensory pathway and the absence of connection between the prosthesis and the Central Nervous System (CNS) after lower limb amputation reduces balance control, increases visual dependency and increases risk of falls among amputees. This work describes the design of a wearable haptic feedback device for lower limb amputees using lateral skin-stretch modality intended to serve as a feedback cue during ambulation. A feedback scheme was proposed based on gait event detection for possible real-time postural adjustment. Preliminary perceptual test with healthy subjects in static condition was carried out and the results indicated over 98% accuracy in determining stimuli location around the upper leg region, suggesting good perceptibility of the delivered stimuli.

Pharmacokinetics of Artesunate following Oral and Rectal Administration in Healthy Sudanese Volunteers

The aims of this study were to determine the pharmacokinetic parameters of a single dose of 200 mg oral and rectal artesunate in healthy volunteers, and to suggest a rational dosage regimen for rectal administration. The study design was a randomized open cross- over study of 12 healthy volunteers; the analytical method used was a reversed phase high performance liquid chromatography with post column derivatization and subsequent ultraviolet detection.

Pharmacokinetic parameters were derived from the main metabolite α-dihydroartemisinin data due to the rapid disappearance of artesunate from the plasma.

Dihydroartemisinin following oral administration of artesunate had a significantly higher AUC0-∞ ( P<0.05 95% confidence interval (Cl) −1168.73, −667.61 ng.h/mL−1) and Cmax( P<0.05;95%Cl −419.73, −171.44 ng/mL− 1, and had shorter tmax ( P<0.05; 95% Cl −0.97, −0.10 h) than that following rectal artesunate. There was no statistically significant difference in the elimination halflife between both routes of administration ( P> 0.05; 95% Cl −0.14, 0.53 h). The relative bioavailability of rectal artesunate was [mean (coefficient of variation%)54.9(24.8%)%]. On the basis of these data an 8 hourly dosing regimen per day with rectal artesunate is proposed.

Virtual prototyping of a semi-active transfemoral prosthetic leg

This article presents a virtual prototyping study of a semi-active lower limb prosthesis to improve the functionality of an amputee during prosthesis-environment interaction for level ground walking. Articulated ankle-foot prosthesis and a single-axis semi-active prosthetic knee with active and passive operating modes were considered. Data for level ground walking were collected using a photogrammetric method in order to develop a base-line simulation model and with the hip kinematics input to verify the proposed design. The simulated results show that the semi-active lower limb prosthesis is able to move efficiently in passive mode, and the activation time of the knee actuator can be reduced by approximately 50%. Therefore, this semi-active system has the potential to reduce the energy consumption of the actuators required during level ground walking and requires less compensation from the amputee due to lower deviation of the vertical excursion of body centre of mass.

Descriptive study on the efficacy and safety of artesunate suppository in combination with other antimalarials in the treatment of severe malaria in Sudan

Documentation on the efficacy of artesunate in Africa is limited, and no experience of artesunate use in Sudan is documented. Severe malaria in rural areas of Sudan, where facilities for the safe and effective use of parenteral quinine are lacking, is a frequent problem. Early treatment with artesunate suppositories would provide a simple method for use by unskilled staff and would be an alternative approach to treat malaria in settings with poor resources. We describe a hospital-based study of rectal artesunate in 100 adult patients with severe falciparum malaria with a dose derived from pharmacokinetic data (200 mg every 8 hours) over 3 days, which halted progression of severe disease and had a low fatality rate. The dosage schedule led to a rapid clinical response and reduced parasite clearance and fever subsidence times of (31.5 +/- 10.1 hours) and (31.4 +/- 11.1 hours). The sequential treatment of rectal artesunate with either doxycycline or pyrimethamine/sulfadoxine or mefloquine resulted in similar clinical cure rates of around 100%, and the combination of artesunate with either doxycycline or pyrimethamine/sulfadoxine was equally effective as mefloquine in preventing recrudescence. There were no significant adverse effects or signs of toxicity related to the treatment observed during the 28-day follow-up. The combination regimens could be used in areas where there is limited access to parenteral therapy for malaria.

Simultaneous electroanalysis of peroxyacetic acid and hydrogen peroxide

The electrochemical behavior of peroxyacetic acid (PAA) in the presence of hydrogen peroxide (H2O2) has been investigated using cyclic voltammetry and hydrodynamic techniques [rotating disk electrode (RDE) voltammetry and rotating ring-disk electrode (RRDE) voltammetry]. The results have been analyzed aiming at simultaneous electroanalysis of both species. Glassy carbon and gold electrodes were used for this investigation. It was found that the reduction of PAA, as well as H2O2, is highly sensitive to the electrode material; for example, at 100 mV s-1, the reduction peak potentials of PAA were 0.2 and -1.1 V at gold and glassy carbon electrodes, respectively. The well-separated steady-state limiting currents were obtained using a gold electrode for the reduction of both PAA and H2O2 and also a well-defined one for the oxidation of H2O2. On the basis of the RDE experiments, good calibration curves were obtained for both species over a wide range of their concentrations, for PAA and H2O2 in the range of 0.36 to 110 and 0.11 to 34 mM, respectively. The simultaneous and selective electroanalysis of PAA and H2O2 in their coexistence is demonstrated for the first time.

Determination of sodium artesunate in plasma using ion-pairing high-performance liquid chromatography

A chromatographic method is described for the determination of sodium artesunate in plasma. This includes cetyltrimethylammonium bromide as a cationic pairing ion in a reversed-phase system using an octadecylsilica 100 x 4.6 mm I.D. 3 microm analytical column with a mobile phase of acetonitrile/acetate buffer at pH7. Column switching incorporating a 5 microm octadecylsilica 100 x 4.6 mm I.D. precolumn is used in addition to off-line solid-phase extraction for pretreatment of plasma samples in order to eliminate interference from endogenous components. Detection is by post-column derivatisation with 1.0 M methanolic KOH followed by UV detection at 289 nm. Calibration is linear over the range 100-1600 ng ml(-1) and the limit of detection is estimated as 20 ng ml(-1). Illustrative results are shown of the artesunate plasma levels determined by the proposed method following the administration of artesunate as tablets and as suppositories to healthy volunteers.