Hip and Knee Joint Kinematics Predict Quadriceps Hyperreflexia in People with Post-stroke Stiff-Knee Gait.

Wearable assistive technology for the lower extremities has shown great promise towards improving gait function in people with neuromuscular injuries. But common secondary impairments, such as hypersensitive stretch reflexes or hyperreflexia, have been often neglected. Incorporation of biomechanics into the control loop could improve individualization and avoid hyperreflexia. However, adding hyperreflexia prediction to the control loop would require expensive or complex measurement of muscle fiber characteristics. In this study, we explore a clinically accessible biomechanical predictor set that can accurately predict rectus femoris (RF) reaction after knee flexion assistance in pre-swing by a powered orthosis. We examined a total of 14 gait parameters based on gait kinematic, kinetic, and simulated muscle-tendon states from 8 post-stroke individuals with Stiff-Knee gait (SKG) wearing a knee exoskeleton robot. We independently performed both parametric and non-parametric variable selection approaches using machine learning regression techniques. Both models revealed the same four kinematic variables relevant to knee and hip joint motions were sufficient to effectively predict RF hyperreflexia. These results suggest that control of knee and hip kinematics may be a more practical method of incorporating quadriceps hyperreflexia into the exoskeleton control loop than the more complex acquisition of muscle fiber properties.

Self-modulation of rectus femoris reflex excitability in humans.

Hyperreflexia is common after neurological injury such as stroke, yet clinical interventions have had mixed success. Our previous research has shown that hyperreflexia of the rectus femoris (RF) during pre-swing is closely associated with reduced swing phase knee flexion in those with post-stroke Stiff-Knee gait (SKG). Thus, reduction of RF hyperreflexia may improve walking function in those with post-stroke SKG. A non-pharmacological procedure for reducing hyperreflexia has emerged based on operant conditioning of H-reflex, an electrical analog of the spinal stretch reflex. It is currently unknown whether operant conditioning can be applied to the RF. This feasibility study trained 7 participants (5 neurologically intact, 2 post-stroke) to down-condition the RF H-reflex using visual feedback. We found an overall decrease in average RF H-reflex amplitude among all 7 participants (44% drop, p < 0.001, paired t-test), of which the post-stroke individuals contributed (49% drop). We observed a generalized training effect across quadriceps muscles. Post-stroke individuals exhibited improvements in peak knee-flexion velocity, reflex excitability during walking, and clinical measures of spasticity. These outcomes provide promising initial results that operant RF H-reflex conditioning is feasible, encouraging expansion to post-stroke individuals. This procedure could provide a targeted alternative in spasticity management.

Modulation of Achilles tendon force with load carriage and exosuit assistance.

Exosuits have the potential to assist locomotion in both healthy and pathological populations, but the effect of exosuit assistance on the underlying muscle-tendon tissue loading is not yet understood. In this study, we used shear wave tensiometers to characterize the modulation of Achilles tendon force with load carriage and exosuit assistance at the ankle. When walking (1.25 m/s) unassisted on a treadmill with load carriage weights of 15 and 30% of body weight, peak Achilles tendon force increased by 11 and 23%, respectively. Ankle exosuit assistance significantly reduced peak Achilles tendon force relative to unassisted, although the magnitude of change was variable across participants. Peak Achilles tendon force was significantly correlated with peak ankle torque for unassisted walking across load carriage conditions. However, when ankle plantarflexor assistance was applied, the relationship between peak tendon force and peak biological ankle torque was no longer significant. An outdoor pilot study was conducted in which a wearable shear wave tensiometer was used to measure Achilles tendon wave speed and compare across an array of assistance loading profiles. Reductions in tendon loading varied depending on the profile, highlighting the importance of in vivo measurements of muscle and tendon forces when studying and optimizing exoskeletons and exosuits.

Rectus femoris hyperreflexia contributes to Stiff-Knee gait after stroke.

BACKGROUND: Stiff-Knee gait (SKG) after stroke is often accompanied by decreased knee flexion angle during the swing phase. The decreased knee flexion has been hypothesized to originate from excessive quadriceps activation. However, it is unclear whether hyperreflexia plays a role in this activation. The goal of this study was to establish the relationship between quadriceps hyperreflexia and knee flexion angle during walking in post-stroke SKG. METHODS: The rectus femoris (RF) H-reflex was recorded in 10 participants with post-stroke SKG and 10 healthy controls during standing and walking at the pre-swing phase. In order to attribute the pathological neuromodulation to quadriceps muscle hyperreflexia and activation, healthy individuals voluntarily increased quadriceps activity using electromyographic (EMG) feedback during standing and pre-swing upon RF H-reflex elicitation. RESULTS: We observed a negative correlation (R = - 0.92, p = 0.001) between knee flexion angle and RF H-reflex amplitude in post-stroke SKG. In contrast, H-reflex amplitude in healthy individuals in presence (R = 0.47, p = 0.23) or absence (R = - 0.17, p = 0.46) of increased RF muscle activity was not correlated with knee flexion angle. We observed a body position-dependent RF H-reflex modulation between standing and walking in healthy individuals with voluntarily increased RF activity (d = 2.86, p = 0.007), but such modulation was absent post-stroke (d = 0.73, p = 0.296). CONCLUSIONS: RF reflex modulation is impaired in post-stroke SKG. The strong correlation between RF hyperreflexia and knee flexion angle indicates a possible regulatory role of spinal reflex excitability in post-stroke SKG. Interventions targeting quadriceps hyperreflexia could help elucidate the causal role of hyperreflexia on knee joint function in post-stroke SKG.

A hinge-free, non-restrictive, lightweight tethered exosuit for knee extension assistance during walking.

In individuals with motor impairments such as those post-stroke or with cerebral palsy, the function of the knee extensors may be affected during walking, resulting in decreased mobility. We have designed a lightweight, hinge-free wearable robot combining soft textile exosuit components with integrated rigid components, which assists knee extension when needed but is otherwise highly transparent to the wearer. The exosuit can apply a wide range of assistance profiles using a flexible multi-point reference trajectory generator. Additionally, we implemented a controller safety limit to address the risk of hyperextension stemming from the hinge-free design. The exosuit was evaluated on six healthy participants walking uphill and downhill on a treadmill at a 10° slope with a set of joint power-inspired assistance profiles. A comparison of sagittal plane joint angles between no exosuit and exosuit unpowered conditions validated the device transparency. With positive power assistance, we observed reduction in average positive knee biological power during uphill walking (left: 17.5 ± 3.21%, p = 0.005; right: 23.2 ± 3.54%, p = 0.008). These initial findings show promise for the assistive capability of the device and its potential to improve the quality of gait and increase mobility in clinical populations.

Sensitivity comparison of inertial to optical motion capture during gait: implications for tracking recovery.

Wearable sensors provide a foundation for development of wearable robotic technology to be used in clinical applications. Inertial motion capture (IMC) has emerged as a viable alternative to more cumbersome, non-portable optical methods. Previous work has validated the accuracy of IMC for gait compared to optical motion capture (OMC). However, it is unclear how well IMC can measure the small changes in gait function needed to gauge recovery. In this study, we evaluate the sensitivity of IMC compared to OMC to small changes in gait on a cohort of unimpaired individuals during treadmill walking. Eight individuals walked on a split-belt treadmill in three-minute trials with five randomized conditions: right belt speed decrementing at 0.05 m/s from 1.0 m/s, all with left belt held at 1.0 m/s, simulating recovery of hemiparetic gait. We extracted the root mean square deviation (RMSD) of joint kinematics between limbs and within the limb with modulated gait speed as the main outcome measure. We used linear mixed models to identify differences in sensitivity to changes in gait asymmetry and gait speed. Based on these models, we estimated the minimal detectible interval in gait parameters. We found that IMC was capable of measuring a difference in gait speed of 0.08 m/s, roughly the equivalent of two weeks recovery progress. Statistically we could not conclude a difference of sensitivity between IMC and OMC, although there is a strong trend that IMC is more sensitive to changes in gait. We conclude that IMC is a valid tool to measure progress in gait kinematics over the course of recovery.

Musculoskeletal simulation framework for impairment-based exoskeletal assistance post-stroke.

Assistive technology for the lower extremities has shown great promise towards improving gait function in people following neuromuscular injuries. However, our previous work assisting knee flexion torque in post-stroke Stiff-Knee gait found that augmenting strength can induce secondary complications such as spasticity due to stretching of the rectus femoris. In this work we explore whether we could have obtained improved knee flexion but avoided a spastic response by simulating combinations of hip and knee flexion torques using musculoskeletal modeling and simulation. We explore previously collected data on a case-by-case basis to determine individual-specific quadriceps reflex thresholds based on estimated rectus femoris muscle fiber stretch velocities. We then implemented a forward simulation framework to identify the subject-specific hip-knee assistance prescription to improve knee range of motion without initiating a spastic response. The obtained subject-specific assistive prescription informs the development of new gait assistance strategies for post-stroke gait and could be extended to other neuromuscular gait impairments.

Neuromusculoskeletal Simulation Reveals Abnormal Rectus Femoris-Gluteus Medius Coupling in Post-stroke Gait.

Post-stroke gait is often accompanied by muscle impairments that result in adaptations such as hip circumduction to compensate for lack of knee flexion. Our previous work robotically enhanced knee flexion in individuals post-stroke with Stiff-Knee Gait (SKG), however, this resulted in greater circumduction, suggesting the existence of abnormal coordination in SKG. The purpose of this work is to investigate two possible mechanisms of the abnormal coordination: (1) a reflex coupling between stretched quadriceps and abductors, and (2) a coupling between volitionally activated knee flexors and abductors. We used previously collected kinematic, kinetic and EMG measures from nine participants with chronic stroke and five healthy controls during walking with and without the applied knee flexion torque perturbations in the pre-swing phase of gait in the neuromusculoskeletal simulation. The measured muscle activity was supplemented by simulated muscle activations to estimate the muscle states of the quadriceps, hamstrings and hip abductors. We used linear mixed models to investigate two hypotheses: (H1) association between quadriceps and abductor activation during an involuntary period (reflex latency) following the perturbation and (H2) association between hamstrings and abductor activation after the perturbation was removed. We observed significantly higher rectus femoris (RF) activation in stroke participants compared to healthy controls within the involuntary response period following the perturbation based on both measured (H1, p < 0.001) and simulated (H1, p = 0.022) activity. Simulated RF and gluteus medius (GMed) activations were correlated only in those with SKG, which was significantly higher compared to healthy controls (H1, p = 0.030). There was no evidence of synergistic coupling between any combination of hamstrings and hip abductors (H2, p > 0.05) when the perturbation was removed. The RF-GMed coupling suggests an underlying abnormal coordination pattern in post-stroke SKG, likely reflexive in origin. These results challenge earlier assumptions that hip circumduction in stroke is simply a kinematic adaptation due to reduced toe clearance. Instead, abnormal coordination may underlie circumduction, illustrating the deleterious role of abnormal coordination in post-stroke gait.

Hip circumduction is not a compensation for reduced knee flexion angle during gait.

It has long been held that hip abduction compensates for reduced swing-phase knee flexion angle, especially in those after stroke. However, there are other compensatory motions such as pelvic obliquity (hip hiking) that could also be used to facilitate foot clearance with greater energy efficiency. Our previous work suggested that hip abduction may not be a compensation for reduced knee flexion after stroke. Previous study applied robotic knee flexion assistance in people with post-stroke Stiff-Knee Gait (SKG) during pre-swing, finding increased abduction despite improved knee flexion and toe clearance. Thus, our hypothesis was that hip abduction is not a compensation for reduced knee flexion. We simulated the kinematics of post-stroke SKG on unimpaired individuals with three factors: a knee orthosis to reduce knee flexion, an ankle-foot orthosis commonly worn by those post-stroke, and matching gait speeds. We compared spatiotemporal measures and kinematics between experimental factors within healthy controls and with a previously recorded cohort of people with post-stroke SKG. We focused on frontal plane motions of hip and pelvis as possible compensatory mechanisms. We observed that regardless of gait speed, knee flexion restriction increased pelvic obliquity (2.8°, p < 0.01) compared to unrestricted walking (1.5°, p < 0.01), but similar to post-stroke SKG (3.4°). However, those with post-stroke SKG had greater hip abduction (8.2°) compared to unimpaired individuals with restricted knee flexion (4.2°, p < 0.05). These results show that pelvic obliquity, not hip abduction, compensates for reduced knee flexion angle. Thus, other factors, possibly neural, facilitate exaggerated hip abduction observed in post-stroke SKG.