Effects of arousal and valence on center of pressure and ankle muscle activity during quiet standing.

Emotion affects postural control during quiet standing. Emotional states can be defined as two-dimensional models comprising valence (pleasant/unpleasant) and arousal (aroused/calm). Most previous studies have investigated the effects of valence on postural control without considering arousal. In addition, studies have focused on the center of pressure (COP) trajectory to examine emotional effects on the quiet standing control; however, the relationship between neuromuscular mechanisms and the emotionally affected quiet standing control is largely unknown. This study aimed to investigate the effects of arousal and valence on the COP trajectory and ankle muscle activity during quiet standing. Twenty-two participants were instructed to stand on a force platform and look at affective pictures for 72 seconds. The tasks were repeated six times, according to the picture conditions composed of arousal (High and Low) and valence (Pleasant, Neutral, and Unpleasant). During the task, the COP, electromyogram (EMG) of the tibialis anterior and soleus muscles, and electrocardiogram (ECG) were recorded. The heart rate calculated from the ECG was significantly affected by valence; the value was lower in Unpleasant than that in Neutral and Pleasant. The 95% confidence ellipse area and standard deviation of COP in the anterior-posterior direction were lower, and the mean power frequency of COP in the anterior-posterior direction was higher in Unpleasant than in Pleasant. Although the mean velocity of the COP in the medio-lateral direction was significantly lower in Unpleasant than in Pleasant, the effect was observed only when arousal was low. Although the EMG variables were not significantly affected by emotional conditions, some EMG variables were significantly correlated with the COP variables that were affected by emotional conditions. Therefore, ankle muscle activity may be partially associated with postural changes triggered by emotional intervention. In conclusion, both valence and arousal affect the COP variables, and ankle muscle activity may be partially associated with these COP changes.

Increasing cadence with a metronome and running barefoot changes the sagittal kinematics of the lower limbs and trunk.

The purpose was to compare two non-laboratory based running retraining programs on lower limb and trunk kinematics in recreational runners. Seventy recreational runners (30 ± 7.3 years old, 40% female) were randomised to a barefoot running group (BAR), a group wearing a digital metronome with their basal cadence increased by 10% (CAD), and a control group (CON). BAR and CAD groups included intervals from 15 to 40 min over 10 weeks and 3 days/week. 3D sagittal kinematics of the ankle, knee, hip, pelvis, and trunk were measured before and after the retraining program, at comfortable and high speeds. A 3 × 2 mixed ANOVA revealed that BAR and CAD groups increased knee and hip flexion at footstrike, increased peak hip flexion during stance and flight phase, decreased peak hip extension during flight phase, and increased anterior pelvic tilt at both speeds after retraining. In addition, BAR increased ankle plantar flexion at footstrike and increased anterior trunk tilt. Both retraining programs demonstrated significant moderate to large effect size changes in parameters that could reduce the mechanical risks of injury associated with excessive knee stress, which is of interest to coaches, runners and those prescribing rehabilitation and injury prevention programs.

Changes in Dynamic Mean Ankle Moment Arm in Unimpaired Walking Across Speeds, Ramps, and Stairs.

Understanding the natural biomechanics of walking at different speeds and activities is crucial to develop effective assistive devices for persons with lower-limb impairments. While continuous measures such as joint angle and moment are well-suited for biomimetic control of robotic systems, whole-stride summary metrics are useful for describing changes across behaviors and for designing and controlling passive and semi-active devices. Dynamic mean ankle moment arm (DMAMA) is a whole-stride measure representing the moment arm of the ground reaction impulse about the ankle joint-effectively, how "forefoot-dominated" or "hindfoot-dominated" a movement is. DMAMA was developed as a target and performance metric for semi-active devices that adjust once per stride. However, for implementation in this application, DMAMA must be characterized across various activities in unimpaired individuals. In our study, unimpaired participants walked at "slow," "normal," and "fast" self-selected speeds on level ground and at a normal self-selected speed while ascending and descending stairs and a 5-degree incline ramp. DMAMA measured from these activities displayed a borderline-significant negative sensitivity to walking speed, a significant positive sensitivity to ground incline, and a significant decrease when ascending stairs compared to descending. The data suggested a nonlinear relationship between DMAMA and walking speed; half of the participants had the highest average DMAMA at their "normal" speed. Our findings suggest that DMAMA varies substantially across activities, and thus, matching DMAMA could be a valuable metric to consider when designing biomimetic assistive lower-limb devices.

Effects of ankle exoskeleton assistance and plantar pressure biofeedback on incline walking mechanics and muscle activity in cerebral palsy.

Ankle dysfunction affects more than 50 % of people with cerebral palsy, resulting in atypical gait patterns that impede lifelong mobility. Incline walking requires increased lower limb effort and is a promising intervention that targets lower-limb extensor muscles. A concern when prescribing incline walking to people with gait deficits is that this exercise may be too challenging or reinforce unfavorable gait patterns. This study aims to investigate how ankle exoskeleton assistance and plantar pressure biofeedback would affect gait mechanics and muscle activity during incline walking in CP. We recruited twelve children and young adults with CP. Participants walked with ankle assistance alone, biofeedback alone, and the combination while we assessed ankle, knee, and hip mechanics, and plantar flexor and knee extensor activity. Compared to incline walking without assistance or biofeedback, ankle assistance alone reduced the peak biological ankle moment by 12 % (p < 0.001) and peak soleus activity by 8 % (p = 0.013); biofeedback alone increased the biological ankle moment (4 %, p = 0.037) and power (19 %, p = 0.012), and plantar flexor activities by 9 - 27 % (p ≤ 0.026); assistance-plus-biofeedback increased biological ankle and knee power by 34 % and 17 %, respectively (p ≤ 0.05). The results indicate that both ankle exoskeleton assistance and plantar pressure biofeedback can effectively modify lower limb mechanics and muscular effort during incline walking in CP. These techniques may help in establishing personalized gait training interventions by providing the ability to adjust intensity and biomechanical focus over time.

A systematic investigation of sensorimotor mechanisms with intelligent prostheses in patients with ankle amputation while walking.

It is thought that creating sensorimotor feedback in people with ankle joint amputation can affect motor biomechanics during gait, but there is little evidence or previous research. This study e aim ed to investigate the sensorimotor mechanism of smart prostheses in with ankle amputations while walking. Search in Google Scholar, Scopus, PubMed and Medline databases between April 2017 and February 2023, in addition to a detailed review in specialized clinical and engineering databases, 29 articles were selected based on the inclusion and exclusion criteria. Trials that mainly include; Proprioception, walking process in movement disorders, ankle amputation were included. Qualitative assessments of selected trials using PEDro' scale was used. The review of studies showed that the use of pressure sensors, neural stimulation through encoded algorithms can provide continuous tactile and positional information of the artificial leg in the direction of neural stimulation throughout the entire walking cycle. These findings indicate that restoration of intraneuronal sensory feedback leads to functional and cognitive benefits. With these definitions, different companies and research centers are trying to improve the mechanics of walking, however, movement strategies are unknown despite little research in creating sense and movement in the use of smart prostheses.

More Variability in Tibialis Anterior Function during the Adduction of the Foot than Dorsiflexion of the Ankle.

INTRODUCTION: The aim of the study was to compare maximal force, force steadiness, and the discharge characteristics of motor units in the tibialis anterior (TA) muscle during submaximal isometric contractions for ankle dorsiflexion and adduction of the foot. METHODS: Nineteen active young adults performed maximal and submaximal isometric dorsiflexion and adduction contractions at five target forces (5%, 10%, 20%, 40%, and 60% maximal voluntary contraction [MVC]). The activity of motor units in TA was recorded by high-density EMG. RESULTS: The maximal force was similar between dorsiflexion and adduction, despite EMG amplitude for TA being greater ( P < 0.05) during dorsiflexion than adduction. Τhe coefficient of variation (CV) for force (force steadiness) during dorsiflexion was always less ( P < 0.05) than during adduction, except of 5% MVC force. No differences were observed for mean discharge rate; however, the regression between the changes in discharge rate relative to the change of force was significant for dorsiflexion ( R2 = 0.25, P < 0.05) but not for adduction. Discharge variability, however, was usually less during dorsiflexion. The CV for interspike interval was less ( P < 0.05) at 10%, 20%, and 40% MVC but greater at 60% MVC during dorsiflexion than adduction. Similarly, the SD values of the filtered cumulative spike train of the motor units in TA were less ( P < 0.05) at 5%, 10%, 20%, and 40% MVC during dorsiflexion than adduction. CONCLUSIONS: Although the mean discharge rate of motor units in TA was similar during foot adduction and ankle dorsiflexion, discharge variability was less during dorsiflexion resulting in less accurate performance of the steady adduction contractions. The neural drive to bifunctional muscles differs during their accessory function, which must be considered for training and rehabilitation interventions.

A Physically Active Lifestyle Can Protect against Age-Related Decline in Ankle Proprioception.

This study examined whether physically active middle-aged (50-64 years) and older adults (65-80 years) demonstrate age-related ankle proprioceptive decline relative to younger counterparts. Empirical data indicate that ankle proprioception declines with aging and such sensory decline negatively affects balance. Using a passive motion apparatus, we employed a psychophysical forced-choice paradigm in which the ankle was passively plantarflexed to a reference position (15° or 25°) and a comparison position that was always smaller than the reference. Subsequently, participants indicated which position was more plantarflexed. As outcome measures of ankle position sense acuity, a just-noticeable-difference (JND) threshold and the uncertainty area (UA) were derived from the psychometric stimulus-response difference function for each participant. The JND threshold is a measure of proprioceptive bias and UA constitutes a measure of precision. The main results are: First, at the 15° reference, most middle-aged (74%) and older adults (71%) had thresholds within the range of the young adults. The respective median JND threshold of young adults was statistically lower when compared to both older groups. Second, no differences between age groups were observed at the 25° reference. Third, no age-related differences were found for UA at either reference. These data indicate that physically active aging adults may be spared from age-related decline in ankle position sense and that age-related differences emerge for small ankle displacements. The findings underscore the importance of remaining active during aging.

Pain alleviation improves balance control and muscular coordination of lower limbs in patients with chronic ankle instability during sinusoidal perturbations.

BACKGROUND: It is well established that individuals with chronic ankle instability manifest deficits in balance control and muscle activation. Given the prevalence of pain as a prominent symptom in this population, there is a need for in-depth investigation of its role in contributing to these impairments. METHODS: A Stewart platform was used to generate translational sinusoidal perturbations in the antero-posterior direction. Eighteen individuals with chronic ankle instability and concurrent ankle pain were recruited. They were instructed to assume a central stance on the support surface with open eyes both before and 30 min after local analgesia. Data of center of pressure and electromyography of the tibialis anterior and medial gastrocnemius were recorded. Statistical analysis was performed to make comparisons pre- and post-analgesia using two-tailed paired t-test for the continuous variables. FINDINGS: Pain intensity was significantly decreased after local anesthetic injections. Antero-posterior center of pressure parameters significantly decreased following the injection. Also, there was an increase in the regularity of the center of pressure pattern. The electromyographic pattern of the tibialis anterior and medial gastrocnemius exhibited various activation patterns. After pain alleviation, the characteristic electromyographic response of the tibialis anterior and medial gastrocnemius was reciprocal contraction and relaxation that corresponded with the sinusoidal pattern of the perturbations. INTERPRETATION: Individuals who had chronic ankle instability and ankle pain demonstrated impaired balance control during sinusoidal perturbations. Mitigating pain improved their balance performance, evident in the center of pressure pattern and the coordination of lower limb muscles.

Modulation of lower limb muscle corticospinal excitability during various types of motor imagery.

Motor imagery (MI) is used for rehabilitation and sports training. Previous studies focusing on the upper limb have investigated the effects of MI on corticospinal excitability in the muscles involved in the imagined movement (i.e., the agonist muscles). The present study focused on several lower-limb movements and investigated the influences of MI on corticospinal excitability in the lower limb muscles. Twelve healthy individuals (ten male and two female individuals) participated in this study. Motor-evoked potentials (MEP) from the rectus femoris (RF), biceps femoris (BF), tibialis anterior (TA), and soleus (SOL) muscles were elicited through transcranial magnetic stimulation (TMS) to the primary motor cortex during MI of knee extension, knee flexion, ankle dorsiflexion, and ankle plantarflexion and at rest. The results showed that the RF MEPs were significantly increased during MI in knee extension, ankle dorsiflexion, and ankle plantarflexion but not in knee flexion, compared with those at rest. The TA MEPs were significantly increased during MI in knee extension and foot dorsiflexion, while MEPs were not significantly different during MI in knee flexion and foot dorsiflexion than those at rest. For the BF and SOL muscles, there was no significant MEP modulation in either MI. These results demonstrated that corticospinal excitability of the RF and TA muscles was facilitated during MI of movements in which they are active and during MI of lower-limb movements in which they are not involved. On the contrary, corticospinal excitability of the BF and SOL muscles was not facilitated by MI of lower-limb movements. These results suggest that facilitation of corticospinal excitability depends on the muscle and the type of lower-limb MI.

Lower extremity joint power and work during recovery following trip-induced perturbations.

BACKGROUND: Successful recovery following a perturbation during walking depends on a quick well-coordinated response from the body. As such, lower limb joint power and work provide critical information characterizing the success of the recovery after a perturbation. Therefore, this study aimed to investigate lower-limb joint power and the relative contribution of each joint to the total leg work during the recovery following a trip-induced perturbation. METHODS: Twenty-four young male volunteers walked at 1.1 m/s for 2 min, followed by two unexpected perturbations induced by rapidly decelerating the right belt of the split-belt treadmill. Joint moments and powers were calculated using an inverse dynamic approach. Joint work was found as the integral of joint power with respect to time. Statistical parametric mapping (SPM) and paired-sample t-tests were used to compare joint power and work between recovery and unperturbed steps. RESULTS: Compared to normal walking, recovery from the trip required a significant increase in both positive (+27 %, p < 0.05) and negative(+28 %,p < 0.05) leg work. During unperturbed walking, the ankle was the key contributor to both positive (ankle=50 %, hip=34 %, and knee=15 %) and negative (ankle=62 %, knee=32 %, and hip=6 %) leg work. During recovery, the knee eccentric work significantly increased (+83 %,p < 0.05) making it the main contributor to the negative leg work (knee=46 %, ankle=45 %, and hip=9 %). The hip positive work also increased during recovery (+62.7 %, p < 0.05), while ankle and the knee positive work remained unchanged. SIGNIFICANCE: These findings highlight the importance of eccentric work of the knee, and concentric work of the hip joint during recovery from trip-induced perturbations. The additional mechanical demand of producing and absorbing more power during recovery is primarily imposed on the knee and hip, rather than the ankle. This new insight into the specific functions of lower-limb joints during recovery from trip-induced perturbations has important implications for the design of targeted fall prevention interventions.

Acute effects of foam rolling on ankle dorsiflexion and squat exercise patterns in extreme conditioning program practitioners: A randomized clinical trial.

BACKGROUND/OBJECTIVES: Joint and muscle overloads commonly occur in extreme conditioning programs (ECP), which require great physical fitness for their practice. For its execution, good functional performance, mobility and adequate movement patterns are required. The fascial system plays a fundamental role in performance in ECP and one of the techniques used to improve joint mobility and movement pattern is the self-myofascial release using a foam roller (FR). Our objective of this study was to evaluate the effect of FR in ankle dorsiflexion (DF) range of motion (ROM), assessed with the Lunge Test, and also in the squat movement pattern, assessed using the Technique smartphone application, in ECP practitioners. METHODS: The study was carried out with 18 ECP practitioners who practiced for over four months and had a mean age of 30.94 years. The participants were randomized and allocated into two groups: control and intervention. The FR was self-applied bilaterally in the sural triceps region for 90 seconds. Tests to assess DF ROM and squat movement pattern were applied before and immediately after using FR (intervention group) or after three-minute rest (control group). RESULTS: The use of the FR promoted an immediate increase in ankle DF ROM during the Lunge Test and during the squat and a decrease in dynamic knee valgus during the squat. CONCLUSION: The FR can be used as a tool for an acute increase in DF ROM and a decrease in dynamic knee valgus, having a positive impact in improving movement patterns.

Spatial distribution of stiffness between and within muscles in paretic and healthy individuals during prone and standing positions.

This study investigated the inter- and intramuscular variability of plantar flexors stiffness during prone and standing positions at different muscle lengths in healthy and paretic individuals. To access tissue stiffness, shear wave elastography (SWE) measurements were carried out on two groups: control group (CG; n=14; age 43.9±9.6 years; body mass index [BMI]=24.5±2.5 kg/m2) and stroke survivor group (SSG; n=14; age 43.9±9.6 years; BMI=24.5±2.5 kg/m2). Shear Modulus (µ, kPa) within three plantar flexors (the gastrocnemius medialis [GM], gastrocnemius lateralis [GL], and soleus [SOL]) was obtained during two conditions: prone and standing position, at different angles of dorsiflexion (0°, 10°, and 20°). Measurements were also performed in different proximo-distal regions of each muscle. Muscle activation of the GM, GL, SOL, and tibialis anterior were evaluated during the two conditions. Results showed a high spatial stiffness variability between and within plantar flexors during dorsiflexion. The highest stiffness was observed in the GM, especially in the distal region at 20° in healthy and paretic muscles. In the prone position, the paretic muscle exhibits greater stiffness compared to the healthy muscle (p < 0.05). In contrast, in the standing position, an increase of stiffness in the healthy muscle compared to the paretic muscle was observed (p < 0.05). Thus, mechanical properties are differently affected by stroke depending on active and passive states of ankle muscles during dorsiflexion. In addition, the modification of ankle muscle state change stiffness distribution between and within plantar flexors.

Subject-Specific and COM Acceleration-Enhanced Reflex Neuromuscular Model to Predict Ankle Responses in Perturbed Gait.

Subject-specific musculoskeletal models generate more accurate joint torque estimates from electromyography (EMG) inputs in relation to experimentally obtained torques. Similarly, reflex Neuromuscular Models (NMMs) that employ COM states in addition to musculotendon information generate muscle activations to musculoskeletal models that better predict ankle torques during perturbed gait. In this study, the reflex NMM of locomotion of one subject is identified by employing an EMG-calibrated musculoskeletal model in unperturbed and perturbed gait. A COM acceleration-enhanced reflex NMM is identified. Subject-specific musculoskeletal models improve torque tracking of the ankle joint in unperturbed and perturbed conditions. COM acceleration-enhanced reflex NMM improves ankle torque tracking especially in early stance and during backward perturbation. Results found herein can guide the implementation of reflex controllers in active prosthetic and orthotic devices.

Ankle Torque Estimation With Motor Unit Discharges in Residual Muscles Following Lower-Limb Amputation.

There has been increased interest in using residual muscle activity for neural control of powered lower-limb prostheses. However, only surface electromyography (EMG)-based decoders have been investigated. This study aims to investigate the potential of using motor unit (MU)-based decoding methods as an alternative to EMG-based intent recognition for ankle torque estimation. Eight people without amputation (NON) and seven people with amputation (AMP) participated in the experiments. Subjects conducted isometric dorsi- and plantarflexion with their intact limb by tracing desired muscle activity of the tibialis anterior (TA) and gastrocnemius (GA) while ankle torque was recorded. To match phantom limb and intact limb activity, AMP mirrored muscle activation with their residual TA and GA. We compared neuromuscular decoders (linear regression) for ankle joint torque estimation based on 1) EMG amplitude (aEMG), 2) MU firing frequencies representing neural drive (ND), and 3) MU firings convolved with modeled twitch forces (MUDrive). In addition, sensitivity analysis and dimensionality reduction of optimization were performed on the MUDrive method to further improve its practical value. Our results suggest MUDrive significantly outperforms (lower root-mean-square error) EMG and ND methods in muscles of NON, as well as both intact and residual muscles of AMP. Reducing the number of optimized MUDrive parameters degraded performance. Even so, optimization computational time was reduced and MUDrive still outperformed aEMG. Our outcomes indicate integrating MU discharges with modeled biomechanical outputs may provide a more accurate torque control signal than direct EMG control of assistive, lower-limb devices, such as exoskeletons and powered prostheses.

Comparing the effectiveness of tissue flossing applied to ankle joint versus calf muscle on exercise performance in female adults: An observational, randomized crossover trial.

BACKGROUND: The prevalence of ankle sprains in females has higher than in males. A deficit in ankle dorsiflexion range of motion (DFROM) is a substantial contributor to ankle injuries, resulting in hampering exercise performance. Tissue flossing improves joint ROM and enhances performance. However, evidence of how floss band (FB) intervention influences the ankle joint and calf muscle is still lacking, particularly in women. We investigated comparing the effectiveness of FB applied to ankle joint versus calf muscle on exercise performance. METHODS: This study was a randomized, counterbalanced crossover trial. Eighteen recreationally women received functional movements without wrapping FB (WF), movements with wrapping the FB around the ankle joint (FAG), and movements with wrapping the FB around the calf muscle (FCM). Main outcome measures included ankle dorsiflexion range of motion (DFROM), pressure pain threshold (PPT), agility test before and 5 (POST5), 30 (POST30), and 60 (POST60) minutes after each of the three interventions in random order. Two-way repeated measures analysis of variance and effect size (Cohen's d) were statistically analyzed. RESULTS: FAG significantly increased ankle DFROM at POST5 (p = 0.01, d = 0.5), POST30 (p = 0.03, d = 0.48), and POST60 (p = 0.001, d = 0.75). FCM significantly increased at POST30 (p = 0.01, d = 0.35) and POST60 (p = 0.004, d = 0.37). Furthermore, FAG significantly improved agility at POST5 (p < 0.001, d = 0.39), POST30 (p = 0.004, d = 0.44), and POST60 (p = 0.007, d = 0.45); however, FCM only did at POST5 (p = 0.04, d = 0.29). The pressure pain threshold on the calf muscle did not significantly change. CONCLUSIONS: FAG and WF enhance ankle ROM and agility immediately. Moreover, FAG demonstrates a prolonged effect of agility for 1 h. Practitioners may take this information into account for choosing efficient applications.

The Effects of Exoskeleton Assistance at the Ankle on Sensory Integration During Standing Balance.

Exoskeleton devices can reduce metabolic cost, increase walking speed, and augment load-carrying capacity. However, little is known about the effects of powered assistance on the sensory information required to achieve these tasks. To learn how to use an assistive device, humans must integrate novel sensory information into their internal model. This process may be disrupted by challenges to the sensory systems used for posture. We investigated the exoskeleton-induced changes to balance performance and sensory integration during quiet standing. We asked 11 unimpaired adults to perform a virtual reality-based test of sensory integration in balance (VRSIB) on two days while wearing the exoskeleton either unpowered, using proportional myoelectric control, or with regular shoes. We measured postural biomechanics, muscle activity, equilibrium scores, postural control strategy, and sensory ratios. Results showed improvement in balance performance when wearing the exoskeleton on firm ground. The opposite occurred when standing on an unstable platform with eyes closed or when the visual information was non-veridical. The balance performance was equivalent when the exoskeleton was powered versus unpowered in all conditions except when both the support surface and the visual information were altered. We argue that in stable ground conditions, the passive stiffness of the device dominates the postural task. In contrast, when the ground becomes unstable the passive stiffness negatively affects balance performance. Furthermore, when the visual input to the user is non-veridical, exoskeleton assistance can magnify erroneous muscle inputs and negatively impact the user's postural control.

Validation of a modified visual analogue scale to measure user-perceived comfort of a lower-limb exoskeleton.

User perceived exoskeleton comfort is likely important for device acceptance, but there is currently no validated instrument to measure it. The Visual Analogue Scale (VAS) is an existing tool to measure subjective human feedback by asking the user to mark a point on a line with each end of the line representing an opposing anchor statement. It can be modified to show the previous response, allowing the subject to directly indicate if the current condition is better or worse than the previous one. The goal of this study was to determine how well the modified VAS could measure user-perceived comfort as the exoskeleton control parameters were varied. To validate the survey, 14 healthy subjects walked in a pair of ankle exoskeletons with approximately ten distinct sets of control parameters tested in a prescribed order. Each set of control parameters was tested twice. After each trial, user-perceived comfort was measured using a two-question VAS survey. The repeatability coefficient was approximately 40 mm, similar to the total range of responses. The results were also inconsistent, with relative rankings between consecutive pairs of conditions matching for approximately 50% of comparisons. Thus, as tested, the VAS was not repeatable or consistent. It is possible that subject adaptation within the trial and over the course of the experiment may have impacted the results. Additional work is needed to develop a repeatable method to measure comfort and to determine how perceived comfort varies as subjects' gain exoskeleton experience.

User preference optimization for control of ankle exoskeletons using sample efficient active learning.

One challenge to achieving widespread success of augmentative exoskeletons is accurately adjusting the controller to provide cooperative assistance with their wearer. Often, the controller parameters are "tuned" to optimize a physiological or biomechanical objective. However, these approaches are resource intensive, while typically only enabling optimization of a single objective. In reality, the exoskeleton user experience is likely derived from many factors, including comfort, fatigue, and stability, among others. This work introduces an approach to conveniently tune the four parameters of an exoskeleton controller to maximize user preference. Our overarching strategy is to leverage the wearer to internally balance the experiential factors of wearing the system. We used an evolutionary algorithm to recommend potential parameters, which were ranked by a neural network that was pretrained with previously collected user preference data. The controller parameters that had the highest preference ranking were provided to the exoskeleton, and the wearer responded with real-time feedback as a forced-choice comparison. Our approach was able to converge on controller parameters preferred by the wearer with an accuracy of 88% on average when compared with randomly generated parameters. User-preferred settings stabilized in 43 ± 7 queries. This work demonstrates that user preference can be leveraged to tune a partial-assist ankle exoskeleton in real time using a simple, intuitive interface, highlighting the potential for translating lower-limb wearable technologies into our daily lives.

Neural prosthesis control restores near-normative neuromechanics in standing postural control.

Current lower-limb prostheses do not provide active assistance in postural control tasks to maintain the user's balance, particularly in situations of perturbation. In this study, we aimed to address this missing function by enabling neural control of robotic lower-limb prostheses. Specifically, electromyographic (EMG) signals (amplified neural control signals) recorded from antagonistic residual ankle muscles were used to drive a robotic prosthetic ankle directly and continuously. Participants with transtibial amputation were recruited and trained in using the EMG-driven robotic ankle. We studied how using the EMG-controlled ankle affected the participants' anticipatory and compensatory postural control strategies and stability under expected perturbations compared with using their daily passive devices. We investigated the similarity of neuromuscular coordination (by analyzing motor modules) of the participants, using either device in a postural sway task, to that of able-bodied controls. Results showed that, compared with their passive prosthesis, the EMG-controlled prosthesis enabled participants to use near-normative postural control strategies, as evidenced by improved between-limb symmetry in intact-prosthetic center-of-pressure and joint angle excursions. Participants substantially improved postural stability, as evidenced by a reduction in steps or falls using the EMG-controlled prosthetic ankle. Furthermore, after relearning to use residual ankle muscles to drive the robotic ankle in postural control, nearly all participants' motor module structure shifted toward that observed in individuals without limb amputations. Here, we have demonstrated the potential benefit of direct EMG control of robotic lower limb prostheses to restore normative postural control strategies (both neural and biomechanical) toward enhancing standing postural stability in amputee users.

Influence of Input Features and EMG Type on Ankle Joint Torque Prediction With Support Vector Regression.

Reliable and accurate EMG-driven prediction of joint torques are instrumental in the control of wearable robotic systems. This study investigates how different EMG input features affect the machine learning algorithm-based prediction of ankle joint torque in isometric and dynamic conditions. High-density electromyography (HD-EMG) of five lower leg muscles were recorded during isometric contractions and dynamic tasks. Four datasets (HD-EMG, HD-EMG with reduced dimensionality, features extracted from HD-EMG with Convolutional Neural Network, and bipolar EMG) were created and used alone or in combination with joint kinematic information for the prediction of ankle joint torque using Support Vector Regression. The performance was evaluated under intra-session, inter-subject, and inter-session cases. All HD-EMG-derived datasets led to significantly more accurate isometric ankle torque prediction than the bipolar EMG datasets. The highest torque prediction accuracy for the dynamic tasks was achieved using bipolar EMG or HD-EMG with reduced dimensionality in combination with kinematic features. The findings of this study contribute to the knowledge allowing an informed selection of appropriate features for EMG-driven torque prediction.