Quantitative Assessment of Motor Neglect.

Background and Purpose: We used differential actigraphy as a novel, objective method to quantify motor neglect (a clinical condition whereby patients mimic hemiplegia even in the absence of sensorimotor deficits), whose diagnosis is at present highly subjective, based on the clinical observation of patients' spontaneous motor behavior. Methods: Patients wear wristwatch-like accelerometers, which record spontaneous motor activity of their upper limbs during 24 hours. Asymmetries of motor behavior are then automatically computed offline. On the basis of normal participants' performance, we calculated cutoff scores of left/right motor asymmetry. Results: Differential actigraphy showed contralesional motor neglect in 9 of 35 patients with unilateral strokes, consistent with clinical assessment. An additional patient with clinical signs of motor neglect obtained a borderline asymmetry score. Lesion location in a subgroup of 25 patients was highly variable, suggesting that motor neglect is a heterogenous condition. Conclusions: Differential actigraphy provides an ecological measure of spontaneous motor behavior, and can assess upper limb motricity in an objective and quantitative manner. It thus offers a convenient, cost-effective, and relatively automatized procedure for following-up motor behavior in neurological patients and to assess the effects of rehabilitation.

Assessment of Stability of MIMU Probes to Skin-Marker-Based Anatomical Reference Frames During Locomotion Tasks: Effect of Different Locations on the Lower Limb.

Soft tissue artefacts (STAs) undermine the validity of skin-mounted approaches to measure skeletal kinematics. Magneto-inertial measurement units (MIMU) gained popularity due to their low cost and ease of use. Although the reliability of different protocols for marker-based joint kinematics estimation has been widely reported, there are still no indications on where to place MIMU to minimize STA. This study aims to find the most stable positions for MIMU placement, among four positions on the thigh, four on the shank, and three on the foot. Stability was investigated by measuring MIMU movements against an anatomical reference frame, defined according to a standard marker-based approach. To this aim, markers were attached both on the case of each MIMU (technical frame) and on bony landmarks (anatomical frame). For each MIMU, the nine angles between each versor of the technical frame with each versor of the corresponding anatomical frame were computed. The maximum standard deviation of these angles was assumed as the instability index of MIMU-body coupling. Six healthy subjects were asked to perform barefoot gait, step negotiation, and sit-to-stand. Results showed that (1) in the thigh, the frontal position was the most stable in all tasks, especially in gait; (2) in the shank, the proximal position is the least stable, (3) lateral or medial calcaneus and foot dorsum positions showed equivalent stability performances. Further studies should be done before generalizing these conclusions to different motor tasks and MIMU-body fixation methods. The above results are of interest for both MIMU-based gait analysis and rehabilitation approaches using wearable sensors-based biofeedback.

The LAMB gait analysis protocol: Definition and experimental assessment of operator-related variability.

Gait analysis has demonstrated to efficaciously support clinical investigations. The patterns of the outcome variables (joint angles, moments and powers) are characterized by an intrinsic and extrinsic variability. Particularly, extrinsic variability is induced by operator-dependent differences in markers' placement, with errors propagating non-linearly to alter outcome variable patterns. The aims of this study are (1) to consider a specific gait analysis protocol named LAMB and provide a description of its procedures, (2) to experimentally assess the between-operator and within-operator variability induced by operator-dependent marking of required anatomical landmarks and (3) to evidence how such inaccuracies propagates to the gait analysis kinematic and kinetic outcome variables. Six expert gait analysis operators performed LAMB anatomical landmarks marking on three healthy adult participants; moreover, one operator repeated three times the marking on one participant. The participants then performed a set of locomotor tasks including stair negotiation and heel- and toe-walking. An anatomical calibration approach let to register each marking and to compute, starting from one single raw data set, a set of outcome variables for each marking/operator. The between-operator variability of gait analysis outcome was assessed in terms of mean absolute variability to quantify offsets and minimal correlation coefficient to quantify patterns' similarity. The results evidence average minimal correlation coefficient ranging from 0.857 for moments to 0.907 for angles and average mean absolute variability accounted for few degrees in angular variables (worst between-operator mean absolute variability is 7.3°), while dynamic variables mean absolute variability, relative to the variable range, was below 5% for moment and below 10% for powers. The variability indexes are comparable to those related to previously published protocols and are independent from the considered task, thus suggesting that the LAMB is a reliable protocol suitable for the analysis of different locomotor tasks.

Physical human-robot interaction of an active pelvis orthosis: toward ergonomic assessment of wearable robots.

BACKGROUND: In human-centered robotics, exoskeletons are becoming relevant for addressing needs in the healthcare and industrial domains. Owing to their close interaction with the user, the safety and ergonomics of these systems are critical design features that require systematic evaluation methodologies. Proper transfer of mechanical power requires optimal tuning of the kinematic coupling between the robotic and anatomical joint rotation axes. We present the methods and results of an experimental evaluation of the physical interaction with an active pelvis orthosis (APO). This device was designed to effectively assist in hip flexion-extension during locomotion with a minimum impact on the physiological human kinematics, owing to a set of passive degrees of freedom for self-alignment of the human and robotic hip flexion-extension axes. METHODS: Five healthy volunteers walked on a treadmill at different speeds without and with the APO under different levels of assistance. The user-APO physical interaction was evaluated in terms of: (i) the deviation of human lower-limb joint kinematics when wearing the APO with respect to the physiological behavior (i.e., without the APO); (ii) relative displacements between the APO orthotic shells and the corresponding body segments; and (iii) the discrepancy between the kinematics of the APO and the wearer's hip joints. RESULTS: The results show: (i) negligible interference of the APO in human kinematics under all the experimented conditions; (ii) small (i.e., < 1 cm) relative displacements between the APO cuffs and the corresponding body segments (called stability); and (iii) significant increment in the human-robot kinematics discrepancy at the hip flexion-extension joint associated with speed and assistance level increase. CONCLUSIONS: APO mechanics and actuation have negligible interference in human locomotion. Human kinematics was not affected by the APO under all tested conditions. In addition, under all tested conditions, there was no relevant relative displacement between the orthotic cuffs and the corresponding anatomical segments. Hence, the physical human-robot coupling is reliable. These facts prove that the adopted mechanical design of passive degrees of freedom allows an effective human-robot kinematic coupling. We believe that this analysis may be useful for the definition of evaluation metrics for the ergonomics assessment of wearable robots.

Assessment of postural stabilization in three task oriented movements in people with multiple sclerosis.

PURPOSE: In accordance with the Task Oriented Approach, clinicians need assessment procedures providing information on the execution of multiple tasks. Instrumented task assessment can add information regarding sensory-motor strategies, difficult to assess purely by clinical observation. It has been shown that People with Multiple Sclerosis (PwMS) have difficulties in maintaining upright balance, but little is known about their ability to achieve a stable posture after the execution of tasks related to activities of daily living. The aim of the present study was to assess postural stabilization in a population of PwMS. METHODS: Twenty Healthy Subjects (HS) and twenty PwMS were assessed in three tasks leading to a quiet erect posture: sit-to-stand, taking a step forward, bending forward. Antero-posterior ground reaction force was measured by a force platform and interpolated by a model providing information on the initial instability after task execution (Transitional_Sway), the time required to dissipate this initial instability (Stabilization_Time), and their stability in quiet upright posture (Static_Sway). RESULTS: PwMS had statistically significant altered performance in comparison to HS: their instability after task execution (Transitional_Sway) was higher in bending and sit-to-stand (p < 0.05), their stabilization time (Stabilization_Time) was longer in bending and step forward (p < 0.05). Static_Sway was higher in all tasks (p < 0.05) indicating imbalance also in quiet upright posture.

Assessment of biofeedback rehabilitation in post-stroke patients combining fMRI and gait analysis: a case study.

BACKGROUND: The ability to walk independently is a primary goal for rehabilitation after stroke. Gait analysis provides a great amount of valuable information, while functional magnetic resonance imaging (fMRI) offers a powerful approach to define networks involved in motor control. The present study reports a new methodology based on both fMRI and gait analysis outcomes in order to investigate the ability of fMRI to reflect the phases of motor learning before/after electromyographic biofeedback treatment: the preliminary fMRI results of a post stroke subject's brain activation, during passive and active ankle dorsal/plantarflexion, before and after biofeedback (BFB) rehabilitation are reported and their correlation with gait analysis data investigated. METHODS: A control subject and a post-stroke patient with chronic hemiparesis were studied. Functional magnetic resonance images were acquired during a block-design protocol on both subjects while performing passive and active ankle dorsal/plantarflexion. fMRI and gait analysis were assessed on the patient before and after electromyographic biofeedback rehabilitation treatment during gait activities. Lower limb three-dimensional kinematics, kinetics and surface electromyography were evaluated. Correlation between fMRI and gait analysis categorical variables was assessed: agreement/disagreement was assigned to each variable if the value was in/outside the normative range (gait analysis), or for presence of normal/diffuse/no activation of motor area (fMRI). RESULTS: Altered fMRI activity was found on the post-stroke patient before biofeedback rehabilitation with respect to the control one. Meanwhile the patient showed a diffuse, but more limited brain activation after treatment (less voxels). The post-stroke gait data showed a trend towards the normal range: speed, stride length, ankle power, and ankle positive work increased. Preliminary correlation analysis revealed that consistent changes were observed both for the fMRI data, and the gait analysis data after treatment (R > 0.89): this could be related to the possible effects BFB might have on the central as well as on the peripheral nervous system. CONCLUSIONS: Our findings showed that this methodology allows evaluation of the relationship between alterations in gait and brain activation of a post-stroke patient. Such methodology, if applied on a larger sample subjects, could provide information about the specific motor area involved in a rehabilitation treatment.