Sleep Position Detection for Closed-Loop Treatment of Sleep-Related Breathing Disorders.

Reliable detection of sleep positions is essential for the development of technical aids for patients with position-dependent sleep-related breathing disorders. We compare personalized and generalizable sleeping position classifiers using unobtrusive eight-channel pressure-sensing mats. Data of six male patients with confirmed position-dependent sleep apnea was recorded during three subsequent nights. Personalized position classifiers trained using leave-one-night-out cross-validation on average reached an F1-score of 61.3% for supine/non-supine and an F1-score of 46.2% for supine/lateral-left/lateral-right classification. The generalizable classifiers reached average F1-scores of 62.1% and 49.1% for supine/non-supine and supine/lateral-left/lateral-right classification, respectively. In-bed presence ("bed occupancy") could be detected with an average F1-score of 98.1%. This work shows that personalized sleep-position classifiers trained with data from two nights have comparable performance to classifiers trained with large interpatient datasets. Simple eight-channel sensor mattresses can be used to accurately detect in-bed presence required for closed-loop systems but their use to classify sleep-positions is limited.

Temporal and spatial patterns of cortical activation during assisted lower limb movement.

Human gait is a complex process in the central nervous system that results from the integrity of various mechanisms, including different cortical and subcortical structures. In the present study, we investigated cortical activity during lower limb movement using EEG. Assisted by a dynamic tilt table, all subjects performed standardized stepping movements in an upright position. Source localization of the movement-related potential in relation to spontaneous EEG showed activity in brain regions classically associated with human gait such as the primary motor cortex, the premotor cortex, the supplementary motor cortex, the cingulate cortex, the primary somatosensory cortex and the somatosensory association cortex. Further, we observed a task-related power decrease in the alpha and beta frequency band at electrodes overlying the leg motor area. A temporal activation and deactivation of the involved brain regions as well as the chronological sequence of the movement-related potential could be mapped to specific phases of the gait-like leg movement. We showed that most cortical capacity is needed for changing the direction between the flexion and extension phase. An enhanced understanding of the human gait will provide a basis to improve applications in the field of neurorehabilitation and brain-computer interfaces.

Stochastically modulated inter-pulse intervals to increase the efficiency of functional electrical stimulation cycling.

INTRODUCTION: Functional electrical stimulation cycling has various health benefits, but the mechanical power output and efficiency are very low compared to volitional muscle activation. Stimulation with variable frequency showed significantly higher power output values in experiments with a knee dynamometer. The aim of the present work was to compare stochastic modulation of inter-pulse interval to constant inter-pulse interval stimulation during functional electrical stimulation cycling. METHODS: Seventeen able-bodied subjects participated (n = 17). Quadriceps and hamstring muscle groups were stimulated with two activation patterns: P1-constant frequency, P2-stochastic inter-pulse interval. Power output was measured on functional electrical stimulation ergometer. RESULTS: Overall, mean power output with the stochastically modulated pattern P2 was lower than with P1 (12.57 ± 3.74 W vs. 11.44 ± 3.81 W, P1 vs. P2, p = 0.022), but no significant differences during the first 30 s and the last 30 s were observed. CONCLUSIONS: This study showed that stimulation strategies that use randomized modulation of inter-pulse intervals can negatively affect power output generation during functional electrical stimulation cycling. To minimise voluntary contractions, power measurement and assessment should be focused on the periods where only the quadriceps are stimulated.

Robot-aided rehabilitation of neural function in the upper extremities.

Repetitive movements can improve muscle strength and movement coordination in patients with neurological disorders and impairments. Robot-aided approaches can serve to enhance the rehabilitation process. They can not only improve the therapeutic outcome but also support clinical evaluation and increase the patient motivation. This chapter provides an overview of existing systems that can support the movement therapy of the upper extremities in subjects with neurological pathologies. The devices are compared with respect to technical function, clinical applicability, and clinical outcomes.

Robot-aided neurorehabilitation of the upper extremities.

Task-oriented repetitive movements can improve muscle strength and movement co-ordination in patients with impairments due to neurological lesions. The application of robotics and automation technology can serve to assist, enhance, evaluate and document the rehabilitation of movements. The paper provides an overview of existing devices that can support movement therapy of the upper extremities in subjects with neurological pathologies. The devices are critically compared with respect to technical function, clinical applicability, and, if they exist, clinical outcomes.

Inverse dynamics as a tool for motion analysis: arm tracking movements in cerebellar patients.

Kinematic analysis of limb movements can be used to evaluate motion of patients with movement disorders. Those with clinically mild to moderate impairment, however, often show only small, insignificant deviations in the measured trajectories compared to those of healthy controls. Furthermore, kinematic data alone do not give sufficient information about internal quantities such as muscle activation or joint moments. In order to improve the sensitivity of motion analysis of limb movements, we propose the use of inverse dynamics, since it allows biomechanical quantities to be determined without restricting movement. We developed an inverse dynamic model of the upper limb with 9 degrees of freedom. Spatial positions (Cartesian coordinates) of anatomical landmarks, which were recorded by an infrared video-based three-dimensional motion analysis system, are transformed into body-related Cardan angles. The model determines joint moments and powers at the shoulder, elbow, and wrist. Arm tracking movements in a patient with a mild cerebellar ataxia and a healthy control demonstrate that the model allows a clear differentiation between normal and abnormal limb movements, even if no significant differences are noted in the recorded trajectories. We conlude that inverse dynamic modeling can be an effective tool for motion analysis in patients with cerebellar disorders. It also gives further insight into the parameters that may be controlled by the central nervous system.

Model-based control of FES-induced single joint movements.

A crucial issue of functional electrical stimulation (FES) is the control of motor function by the artificial activation of paralyzed muscles. Major problems that limit the success of current FES systems are the nonlinearity of the target system and the rapid change of muscle properties due to fatigue. In this study, four different strategies, including an adaptive algorithm, to control the movement of the freely swinging shank were developed on the basis of computer simulations and experimentally evaluated on two subjects with paraplegia due to a complete thoracic spinal cord injury. After developing a nonlinear, physiologically based model describing the dynamic behavior of the knee joint and muscles, an open-loop approach, a closed-loop approach, and a combination of both were tested. In order to automate the individual adjustments cited above, we further evaluated the performances of an adaptive feedforward controller. The two parameters chosen for the adaptation were the threshold pulse width and the scaling factor for adjusting the active moment produced by the stimulated muscle to the fitness of the muscle. These parameters have been chosen because of their significant time variability. The first three controllers with fixed parameters yielded satisfactory result. An additional improvement was achieved by applying the adaptive algorithm that could cope with problems due to muscle fatigue, thus permitting on-line identification of critical parameters of the plant. Although the present study is limited to a simplified experimental setup, its applicability to more complex and functional movements can be expected.

Identification of passive elastic joint moments in the lower extremities.

Musculotendon actuators produce active and passive moments at the joints they span. Due to the existence of bi-articular muscles, the passive elastic joint moments are influenced by the angular positions of adjacent joints. To obtain quantitative information about this passive elastic coupling between lower limb joints, we examined the passive elastic joint properties of the hip, knee, and ankle joint of ten healthy subjects. Passive elastic joint moments were found to considerably depend on the adjacent joint angles. We present a simple mathematical model that describes these properties on the basis of a double-exponential expression. The model can be implemented in biomechanical models of the lower extremities, which are generally used for the simulation of multi-joint movements such as standing-up, walking, running, or jumping.

Biomechanical model of the human knee evaluated by neuromuscular stimulation.

A detailed model of the human knee was developed to predict shank motion induced by functional neuromuscular stimulation (FNS). A discrete-time model is used to characterize the relationship between stimulus parameters and muscle activation. A Hill-based model of the musculotendon actuator accounts for nonlinear static and dynamic properties of both muscle and tendon. Muscle fatigue and passive muscle viscosity are modeled in detail. Moment arms are computed from musculotendon paths of 13 actuators and from joint geometry. The model also takes nonlinear body-segmental dynamics into consideration. The simulated motion is visualized by graphic animation. Individual model parameters were identified by specific procedures such as anthropometric measurements, a passive pendulum test, and specific open-loop stimulation experiments. Model results were compared with experimental data obtained by stimulating the quadriceps muscle of paraplegic patients with surface electrodes. The knee moment, under isometric conditions, and the knee angle, under conditions of freely swinging shank, were measured. In view of the good correspondence obtained between model predictions and experimental data, we conclude that a biomechanical model of human motion induced by FNS can be used as a mathematical tool to support and accelerate the development of neural prostheses.

In vivo kinematic measurement during laparoscopic cholecystectomy.

BACKGROUND: Despite the rapid development of computer-assisted surgery, studies on kinematic measurement for surgical innovation are rare. This study describes a system for kinematic measurement in real operating theater environments. Six laparoscopic cholecystectomies were recorded and analyzed. In addition to a demonstration of the feasibility of the method, basis data for the development of an actuated laparoscopic camera holder are evaluated. METHODS: The positions of four receivers were recorded by an electromagnetic motion acquisition system. Analysis of the data was performed postoperatively with matlab. Parameters such as coordinates, velocities, angles, angular velocities, workspaces in typical phases of an operation, and subareas of the coordinate ranges were computed. RESULTS: The workspace during the operation in situ before (II) and after (V) removal of the gallbladder at the upper camera end was as follows: (X, Y, Z; given in cm): II: 65.5 . 42.7 . 27.3 (subarea 90% = 8.3. 14.0.6.3); V: 57.4.33.3.26.2, (90% = 10.3.16.5.7.9). Workspaces at the lower camera end were smaller: II: 14.8.9.7.15.4; (90% = 3.5.3.1.4.3). During these operation phases, velocities up to 82.9 cm/s were documented. Most of the measured velocities were much smaller. The camera -tilt-angles in left/right (alphax) and head/ feet (alphay) direction were as follows: alphax: -69 degrees to +69 degrees and alphay: -74 degrees to +48 degrees. CONCLUSION: This study demonstrates the feasibility of real-time kinematic measurement in the operation environment. The information might be of future value not only as basis data for the development of camera holders, but also for further investigations on robotics, ergonomics, and simulation.

Analysis of passive elastic joint moments in paraplegics.

In the functional electrical stimulation of the lower extremity of paraplegics to achieve standing and walking, a mathematical model describing the passive elastic joint moments is essential in order to implement model-based control algorithms. In a previous investigation of ten normal persons we had found significant coupling of passive, elastic joint moments between neighboring joints due to muscle groups that span both joints (biarticular muscles). Thus, we now investigated the biarticular coupling in six paraplegic patients. A comparison to the averaged results of the ten normal persons showed that while the biarticular joint moment coupling due to the gastrocnemius muscle was well preserved in all patients, the coupling due to the rectus femoris was greatly reduced and the coupling due to the hamstring muscle group was negligible. We offer pathophysiologically based explanations for these characteristic differences including the speculation that the predominantly extensor-type spasticity in our patients exercises mainly the anti-gravity muscles such as the gastrocnemius and the rectus femoris, while permitting greater atrophy of the hamstring muscle group. A previously presented double-exponential equation that predicts the joint moments under consideration of the neighboring joint angles could be fitted well to the experimental data.

Optimised robot-based system for the exploration of elastic joint properties.

Numerous publications provide measured biomechanical data relating to synovial joints. However, in general, they do not reflect the non-linear elastic joint properties in detail or do not consider all degrees of freedom (DOF), or the quantity of data is sparse. To perform more comprehensive, extended measurements of elastic joint properties, an optimised robot-based approach was developed. The basis was an industrial, high-precision robot that was capable of applying loads to the joint and measuring the joint displacement in 6 DOF. The system was equipped with novel, custom-made control hardware. In contrast to the commonly used sampling rates that are below 100 Hz, a rate of 4 kHz was realised for each DOF. This made it possible to implement advanced, highly dynamic, quasi-continuous closed-loop controllers. Thus oscillations of the robot were avoided, and measurements were speeded up. The stiffness of the entire system was greater than 44 kNm(-1) and 22 Nm deg(-1), and the maximum difference between two successive measurements was less than 0.5 deg. A sophisticated CT-based referencing routine facilitated the matching of kinematic data with the individual anatomy of the tested joint. The detailed detection of the elastic varus-valgus properties of a human knee joint is described, and the need for high spatial resolution is demonstrated.

Instrumented staircase for ground reaction measurement.

A staircase was developed to record ground reactions during stair climbing at different slopes (inclinations). Each step is instrumented with six strain-gauge-based force transducers which allow the measurement of three-dimensional ground reaction force and moment as well as the centre of pressure (COP) location. A specific sensor arrangement permits accurate recording, especially of the COP location. The overall design of the staircase and details of a single instrumented step are presented. Static and dynamic characteristics have been evaluated by different experimental procedures. Preliminary results of ground reaction forces are shown.

Biomechanical analysis of sit-to-stand transfer in healthy and paraplegic subjects.

OBJECTIVE: An experimental study of the sit-to-stand transfer in healthy adults with/without arm-support and in paraplegic patients with/without electrical stimulation of the quadriceps muscles was performed. The study was aimed to compare the joint torques, momentum transfer hypothesis, and stability of the sit-to-stand transfer in the healthy and paraplegic subjects. METHODS: A planar 3-linkage rigid body model was used to compute the body-segmental linear momentum and the reaction forces and torques at the joints from measured data. RESULTS: In healthy subjects the arm-support enlarged the support base of the body and thus, increased the postural stability. Strong arm-assistance reduced the maximum hip and knee joint torques by more than 50%. It was observed that the healthy participants rising with arm-support used momentum transfer to facilitate the transition from sitting to standing. The paraplegic participants did not apply the momentum transfer strategy and the sit-to-stand transfer was accomplished in a quasi-static manner. Stimulating the quadriceps, the legs could participate partly in the movement dynamics. CONCLUSION: Our results indicate that some significant differences exist between the maneuver applied by the paraplegic patients to stand up and the strategies used by the healthy adults rising with arm-support. RELEVANCE: Analysis of the biomechanical factors underlying the sit-to-stand activity is essential in the design of competent closed-loop neuroprosthesis controllers which assist paraplegic patients during rising.

A survey study for the development of virtual reality technologies in orthopedics.

Virtual reality (VR) technologies have the potential to support medical education and training. In order to orient the development of medical VR applications towards the actual deficiencies and demands in orthopedics, we performed a survey among 56 orthopedic physicians. They were asked to provide information about the kind of physical joint evaluation tests which they perform most often, the importance of physical joint evaluation in comparison to alternative diagnostic methods, and their opinion about current medical education system as well as the prospects of VR applications in orthopedics. The main conclusion of this survey is that VR applications have the potential to improve the lacking medical education and orthopedic training, e.g. by improving the quality of joint evaluation methods, reducing the high number of unhealthy, risky and expensive alternative diagnostic procedures.

[Initial results with the Munich knee simulator]. / Erste Ergebnisse mit dem Münchner Kniesimulator.

In orthopaedics more than 50 different clinical knee joint evaluation tests exist that have to be trained in orthopaedic education. Often it is not possible to obtain sufficient practical training in a clinical environment. The training can be improved by Virtual Reality technology. In the frame of the Munich Knee Joint Simulation project an artificial leg with anatomical properties is attached by a force-torque sensor to an industrial robot. The recorded forces and torques are the input for a simple biomechanical model of the human knee joint. The robot is controlled in such way that the user gets the feeling he moves a real leg. The leg is embedded in a realistic environment with a couch and a patient on it.

Development of a multi-modal virtual human knee joint for education and training in orthopaedics.

Due to limited simultaneous access to a greater pool of patients an effective training of medical students or young orthopedic physicians is difficult. A knee joint simulator that comprises the properties of a healthy or pathological knee can support medical education and training. In this paper a mechatronic system is presented that provides visual, acoustic, and haptic (force) feedback so that it allows a user to touch and move a virtual shank, bones or muscles within the leg, and simultaneously observe the generated movement, feel the contact force, and hear sounds. These and further features enable the user to study and assess the properties of the knee, e.g. by testing the joint laxity and end-point stiffness in six degrees-of-motion (DOF) and by grasping and pulling at muscles, rupturing ligaments or changing muscle/ligament paths. Such a tool can support training of physical knee evaluation required for diagnosis and therapeutic planning, since any kind of pathology of any subject type can be tested at any time. Furthermore, it can provide a better understanding of functional anatomy, e.g. for the education of medical students.

Optimisation of the mean boat velocity in rowing.

In rowing, motor learning may be facilitated by augmented feedback that displays the ratio between actual mean boat velocity and maximal achievable mean boat velocity. To provide this ratio, the aim of this work was to develop and evaluate an algorithm calculating an individual maximal mean boat velocity. The algorithm optimised the horizontal oar movement under constraints such as the individual range of the horizontal oar displacement, individual timing of catch and release and an individual power-angle relation. Immersion and turning of the oar were simplified, and the seat movement of a professional rower was implemented. The feasibility of the algorithm, and of the associated ratio between actual boat velocity and optimised boat velocity, was confirmed by a study on four subjects: as expected, advanced rowing skills resulted in higher ratios, and the maximal mean boat velocity depended on the range of the horizontal oar displacement.

Virtual Reality to control active participation in a subacute stroke patient during robot-assisted gait training.

Virtual Reality (VR) provides a promising medium to enrich robot assisted rehabilitation. VR applications present the opportunity to engage patients in therapy and control participation. The aim of this study was to investigate two strategies to control active participation of a stroke patient focusing on the involvement of the paretic leg in task solution. A subacute stroke patient with a severe hemiparesis performed two experiments on the driven gait orthosis Lokomat. Patient activity was quantified by weighted interaction torques measured in both legs (experiment A) and the paretic leg only (experiment B). The patient was able to successfully implement both the bilateral and unilateral control modality. Both control modes increased the motor output of the paretic leg, however the paretic leg control mode resulted in a much more differentiated regulation of the activity in the leg. Both control modes are appropriate approaches to enhance active participation and increase motor output in the paretic leg. Further research should evaluate the therapeutic benefit of patients with hemiparesis using the unilateral control mode depending on the severity of their impairment.

Quantitative description of the state of awareness of patients in vegetative and minimally conscious state.

Clinical scales represent the golden standard in characterizing awareness for patients in vegetative or in a minimally conscious state. Clinical scales suffer from problems of sensitivity, specificity, subjectivity, and inter-rater reliability. This leads to a misdiagnosis rate of up to 40% and consequences associated with inappropriate treatment decisions. In this study, objective measures including physiological and neurological signals are used to quantify the patient status. Using linear backward regression analysis, 13 variables (based on frequency analysis of the electrocardiogram, heart rate variability, amplitude and latency of the P300, skin conductance responses, changes in the blood pressure and respiration signal) were found to be sufficient to describe 74.7% of the variability of the scores. In this regression model, the P300, electrocardiogram and the blood pressure signal account for most of the variability. More patient data and additional measures will enable refinement of the methods. This new objective-measurement based model of the state of awareness will complement the clinical scales in order to increase the quality of diagnosis.