Estimation of sagittal-plane whole-body angular momentum during perturbed and unperturbed gait using simplified body models.

Human whole-body angular momentum (WBAM) during walking typically follows a consistent pattern, making it a valuable indicator of the state of balance. However, calculating WBAM is labor-intensive, where the kinematic data for all body segments is needed, that is, based on a full-body model. In this study, we focused on selecting appropriate segments for estimating sagittal-plane WBAM during both unperturbed and perturbed gaits, which were segments with significant angular momentum contributions. Those major segments were constructed as a simplified model, and the sagittal-plane WBAM based on a simplified model was calculated by combining the angular momenta of the selected segments. We found that the WBAM estimated by seven-segment models, incorporating the head & torso (HT) and all lower limb segments, provided an average correlation coefficient of 0.99 and relative angular momentum percentage of 96.8% and exhibited the most similar sensitivity to external perturbations compared to the full-body model-based WBAM. Additionally, our findings revealed that the rotational angular momenta (RAM) of lower limb segments were much smaller than their translational angular momenta (TAM). The pair-wise comparisons between simplified models with and without RAMs of lower body segments were observed with no significant difference, indicating that RAMs of lower body segments are neglectable. This may further simplify the WBAM estimation based on the seven-segment model, eliminating the need to estimate the angular velocities of lower limb segments. These findings have practical implications for future studies of using inertial measurement units (IMUs) for estimating WBAM, as our results can help reduce the number of required sensors and simplify kinematics measurement.

Effect of perturbation timing on recovering whole-body angular momentum during very slow walking.

Humans prioritize regulation of the whole-body angular momentum (WBAM) during walking. When perturbed, modulations of the moment arm of the ground reaction force (GRF) with respect to the centre of mass (CoM) assist in recovering WBAM. For sagittal-plane perturbations of the WBAM given at toe off right (TOR), horizontal GRF modulations and not centre of pressure (COP) modulations were mainly responsible for these moment arm modulations. In this study, we aimed to find whether the instant of perturbations affects the contributions of the GRF and/or CoP modulations to the moment arm changes, in balance recovery during very slow walking. Perturbations of the WBAM were applied at three different instants of the gait cycle, namely at TOR, mid-swing (MS), and heel strike right (HSR). Forces equal to 16% of the participant's body weight were applied simultaneously to the pelvis and upper body in opposite directions for a duration of 150 ms. The results showed that the perturbation onset did not significantly affect the GRF moment arm modulation. However, the contribution of both the CoP and GRF modulation to the moment arm changes did change depending on the perturbation instant. After perturbations resulting in a forward pitch of the trunk a larger contribution was present from the CoP modulation when perturbations were given at MS or HSR, compared to perturbations at TOR. After backward pitch perturbations given at MS and HSR the CoP modulation counteracted the moment arm required for WBAM recovery. Therefore a larger contribution from the horizontal GRF was needed to direct the GRF posterior to the CoM and recover WBAM. In conclusion, the onset of WBAM perturbations does not affect the moment arm modulation needed for WBAM recovery, while it does affect the way CoP and GRF modulation contribute to that recovery.

Assisting walking balance using a bio-inspired exoskeleton controller.

BACKGROUND: Balance control is important for mobility, yet exoskeleton research has mainly focused on improving metabolic energy efficiency. Here we present a biomimetic exoskeleton controller that supports walking balance and reduces muscle activity. METHODS: Humans restore balance after a perturbation by adjusting activity of the muscles actuating the ankle in proportion to deviations from steady-state center of mass kinematics. We designed a controller that mimics the neural control of steady-state walking and the balance recovery responses to perturbations. This controller uses both feedback from ankle kinematics in accordance with an existing model and feedback from the center of mass velocity. Control parameters were estimated by fitting the experimental relation between kinematics and ankle moments observed in humans that were walking while being perturbed by push and pull perturbations. This identified model was implemented on a bilateral ankle exoskeleton. RESULTS: Across twelve subjects, exoskeleton support reduced calf muscle activity in steady-state walking by 19% with respect to a minimal impedance controller (p < 0.001). Proportional feedback of the center of mass velocity improved balance support after perturbation. Muscle activity is reduced in response to push and pull perturbations by 10% (p = 0.006) and 16% (p < 0.001) and center of mass deviations by 9% (p = 0.026) and 18% (p = 0.002) with respect to the same controller without center of mass feedback. CONCLUSION: Our control approach implemented on bilateral ankle exoskeletons can thus effectively support steady-state walking and balance control and therefore has the potential to improve mobility in balance-impaired individuals.

Sagittal-plane balance perturbations during very slow walking: Strategies for recovering linear and angular momentum.

Spatiotemporal gait characteristics change during very slow walking, a relevant speed considering individuals with movement disorders or using assistive devices. However, we lack insights in how very slow walking affects human balance control. Therefore, we aimed to identify how healthy individuals use balance strategies while walking very slow. Ten healthy participants walked on a treadmill at an average speed of 0.43ms-1, while being perturbed at toe off right by either perturbations of the whole-body linear momentum (WBLM) or angular momentum (WBAM). WBLM perturbations were given by a perturbation on the pelvis in forward or backward direction. The WBAM was perturbed by two simultaneous perturbations in opposite directions on the pelvis and upper body. The given perturbations had magnitudes of 4, 8, 12 and 16% of the participant's body weight, and lasted for 150ms. After perturbations of the WBLM the centre of pressure placement was modulated using the ankle joint, while keeping the moment arm of the ground reaction force (GRF) with respect to the centre of mass (CoM) small. After the perturbations of the WBAM a quick recovery was initiated, using the hip joint and adjusting the horizontal GRF to create a moment arm with respect to the CoM. These findings suggest no fundamental differences in the use of balance strategies at very slow walking compared to normal speeds. Still as the gait phases last longer, this time was exploited to counteract perturbations in the ongoing gait phase.

Recovery from sagittal-plane whole body angular momentum perturbations during walking.

Healthy individuals highly regulate their whole body angular momentum (WBAM) during walking. Since WBAM regulation is essential in maintaining balance, a better understanding is required on how healthy individuals recover from WBAM perturbations. We therefore studied how healthy individuals recover WBAM in the sagittal plane. WBAM can be regulated by adjusting the moment arm of the ground reaction force (GRF) vector with respect to the whole-body centre of mass (CoM). In principle this can be done by centre of pressure (CoP) modulation and/or adjustments of the GRF direction. Two simultaneous perturbations of the same magnitude were applied in opposite direction to the pelvis and upper body (0.34m apart) to perturb WBAM but not the whole body linear momentum (WBLM), while participants walked on a treadmill. The perturbations were given at toe off right, had a magnitude of 4, 8, 12 and 16% of the participant's body weight, and lasted for 150ms. A recovery of the WBAM was seen directly after the perturbations, induced by adapting the moment arm of the GRF with respect to the CoM. The hip joint of the stance leg played an important role in achieving the WBAM recovery. A change in the direction of the GRF vector and not a contributing CoP modulation, caused the change in moment arm. However, the change in GRF direction came from a change in the horizontal GRF, which also affects the WBLM. This suggest that regulating WBAM may take precedence over the WBLM in early recovery.

Centre of pressure modulations in double support effectively counteract anteroposterior perturbations during gait.

Centre of mass (CoM) motion during human balance recovery is largely influenced by the ground reaction force (GRF) and the centre of pressure (CoP). During gait, foot placement creates a region of possible CoP locations in the following double support (DS). This study aims to increase insight into how humans modulate the CoP during DS, and which CoP modulations are theoretically possible to maintain balance in the sagittal plane. Three variables sufficient to describe the shape, length and duration of the DS CoP trajectory of the total GRF, were assessed in perturbed human walking. To counteract the forward perturbations, braking was required and all CoP variables showed modulations correlated to the observed change in CoM velocity over the DS phase. These correlations were absent after backward perturbations, when only little propulsion was needed to counteract the perturbation. Using a linearized inverted pendulum model we could explore how the observed parameter modulations are effective in controlling the CoM. The distance the CoP travels forward and the instant the leading leg was loaded largely affected the CoM velocity, while the duration mainly affected the CoM position. The simulations also showed that various combinations of CoP parameters can reach a desired CoM position and velocity at the end of DS, and that even a full recovery in the sagittal plane within DS would theoretically have been possible. However, the human subjects did not exploit the therefore required CoP modulations. Overall, modulating the CoP trajectory in DS does effectively contributes to balance recovery.

The burden of stroke in the Netherlands: estimating quality of life and costs for 1†year poststroke.

OBJECTIVES: To assess and explore over 1 year poststroke (1) the societal costs, (2) changes in costs and quality of life (QoL) and (3) the relation between costs and QoL. DESIGN: The current study is a burden of disease study focusing on the cost-of-illness (in Euros) and QoL (in utilities) after stroke. SETTING: Adult patients with stroke were recruited from stroke units in hospitals and followed for 1 year. PARTICIPANTS: Data were collected from 395 patients with stroke. MAIN OUTCOME MEASURES: Costs and QoL expressed in utilities. METHODS: Cost categories were identified through a bottom-up method. The Dutch 3-level 5-dimensional EuroQol (EQ-5D-3L) was used to calculate utilities. Non-parametric bootstrapping was applied to test for statistical differences in costs. Subgroup analyses were performed to identify predictors for costs and QoL. Robustness of results was tested via sensitivity analyses. RESULTS: The total societal costs for 1 year poststroke were €29 484 (n=352) of which 74% were in the first 6 months. QoL remained stable over time. The discharge location was a significant predictor for cost and QoL; men had a significantly higher QoL than women and younger patients (<65) had significantly more costs than older patients (>65). Ceiling effects appear on all dimension of the EQ-5D-3L. Costs and QoL show a weak correlation (r=-0.29). Sensitivity analyses showed robustness of results. CONCLUSIONS: We found lower patient costs and higher QoL than expected. This may be explained by the good state of health of our study population and by change in the Dutch healthcare system, which has led to considerable shorter hospitalisation poststroke. Future research must question the use of the EQ-5D-3L in a similar population due to ceiling effects. TRIAL REGISTRATION NUMBER: NTR3051.

Life satisfaction post stroke: The role of illness cognitions.

OBJECTIVE: To describe illness cognitions two months and two years post stroke and to investigate changes in illness cognitions over time. We also examined the associations between illness cognitions and life satisfaction at two months and two years post stroke and investigated if changes in illness cognitions predicted life satisfaction two years post stroke, taking demographic and stroke-related factors and emotional symptoms into account. METHODS: Prospective cohort study in which 287 patients were assessed at two months and two years post stroke. The illness cognitions helplessness (maladaptive), acceptance (adaptive) and perceiving benefits (adaptive) were measured with the Illness Cognition Questionnaire. Life satisfaction was assessed with two life satisfaction questions. Correlational and regression analyses were performed. RESULTS: Patients experienced both maladaptive and adaptive illness cognitions two months and two years post stroke. Only acceptance increased significantly from two months to two years post stroke (p≤0.01). Helplessness, acceptance and perceiving benefits were significantly associated with life satisfaction at two months (R2=0.42) and two years (R2=0.57) post stroke. Furthermore, illness cognitions two months post stroke and changes in illness cognitions predicted life satisfaction two years post stroke (R2=0.57). CONCLUSION: Illness cognitions and changes in illness cognitions were independently associated with life satisfaction two years post stroke. It is therefore important during rehabilitation to focus on reducing maladaptive behavior and feelings to promote life satisfaction, and on promoting adaptive illness cognitions.

[Gene therapy in The Netherlands]. / Gentherapie in Nederland.

Extensive research is ongoing worldwide on the clinical utility of gene therapy, particularly for the treatment of cancer and genetic disorders. Two gene therapy products have already been approved recently in China. Clinical experience with gene therapy has also been accumulating in the Netherlands: over 200 Dutch patients have now been treated in clinical trials. Published results indicate that gene therapy is generally safe. Gene therapy appears to be effective for some genetic disorders, such as severe combined immune deficiency and haemophilia B. The efficacy of gene therapy, particularly in the treatment of cancer, appears to be limited up till now.

Localized unresectable pancreatic cancer.

Treatment results are presented for 40 patients with unresectable localized pancreatic cancer. The treatment protocol consisted of a split-course external radiation therapy to a dose of 50 Gy combined with intravenous 5-fluorouracil on the first 4 days of each course in a dose of 375 mg/m2/day. There was no treatment mortality and morbidity was moderate. Median survival was 9 months. The 3-year survival of six patients and the 5-year survival of three patients are considered significant enough to advise this combined treatment modality as a standard and to use it in comparison with newer treatment schemes in Phase III studies.