Background For stroke survivors, balance deficits that persist after the completion of the rehabilitation process lead to a significant risk of falls. We have recently developed a balance-assessment robot (BAR-TM) that enables assessment of balancing abilities during walking. The purpose of this study was to test feasibility of using the BAR-TM in an experimental perturbed-balance training program with a selected high-functioning stroke survivor. Methods A control and an individual with right-side chronic hemiparesis post-stroke were studied. The individual post-stroke underwent thirty sessions of balance-perturbed training that involved walking on an instrumented treadmill while the BAR-TM delivered random pushes to the participant’s pelvis; these pushes were in various directions, at various speeds, and had various perturbation amplitudes. We assessed kinematics, kinetics, electromyography, and spatio-temporal responses to outward-directed perturbations of amplitude 60 N (before training) and 60 N and 90 N (after training) commencing on contact of either the nonparetic-left foot (LL-NP/L perturbation) or the paretic-right foot (RR-P/R perturbation) while the treadmill was running at a speed of 0.4 m/s. Results Before training, the individual post-stroke primarily responded to LL-NP/L perturbations with an in-stance response on the non-paretic leg in a similar way to the control participant. After training, the individual post-stroke added adequate stepping by making a cross-step with the paretic leg that enabled successful rejection of the perturbation at lower and higher amplitudes. Before training, the individual post-stroke primarily responded to RR-P/R perturbations with fast cross-stepping using the left, non-paretic leg while in-stance response was entirely missing. After training, the stepping with the non-paretic leg was supplemented by partially recovered ability to exercise in-stance responses on the paretic leg and this enabled successful rejection of the perturbation at lower and higher amplitudes. The assessed kinematics, kinetics, electromyography, and spatio-temporal responses provided insight into the relative share of each balancing strategy that the selected individual post-stroke used to counteract LL-NP/L and RR-P/R perturbations before and after the training. Conclusions The main finding of this case-control study is that robot-based perturbed-balance training may be a feasible approach. It resulted in an improvement the selected post-stroke participant’s ability to counteract outward-directed perturbations.
COBISS.SI-ID: 2482537
Background: Common understanding is that adequate foot placement (stepping strategy) is crucial in maintaining stability during walking at normal speed. The aim of this study was to investigate strategies that humans use to cope with lateral perturbations during very slow walking. Methods: Ten healthy individuals underwent an experimental protocol whereby a set of perturbations directed inward (medially to a stance leg) and outward (laterally to a stance leg) of three intensities (F1 = 5%, F2 = 10% and F3 = 15% of body weight), applied at three instances of a stance phase were delivered in random order to the pelvis using a balance assessment robot while walking on a treadmill at three walking speeds (S1 = 0.4, S2 = 0.6 and S3 = 0.8 m/s). We analyzed peak center of mass displacements; step length, step width and step times; and the lateral component of ground reaction force for perturbations that were delivered at the beginning of the gait cycle. Results: Responses after inward perturbations were similar at all tested speeds and consistently employed stepping strategy that was further facilitated by a shortened stance. Wider and shorter steps were applied with increased perturbation intensity. Responses following outward perturbations were more complex. At S1 hip strategy (impulse-like increase of medio-lateral ground-reaction-force) augmented with ankle strategy (medio-lateral shift of centre-of-pressure) mainly contributed to responses already during the stance phase. The stance duration was significantly longer for all perturbation intensities. At S2 the relative share of hip strategy was reduced while with increased perturbation intensity stepping strategy was gradually added. The stance duration was significantly longer for F1 and F2. At S3 stepping strategy was mainly used while the duration of stance was similar to the one in unperturbed walking. Responses following both inward and outward perturbations at all speeds were characterized by temporary slowing-down movement in sagittal plane that was more pronounced with increased perturbation intensity. Conclusions: This study provides novel insights into balancing strategies used at slower walking speeds which may be more relevant to understanding the challenges of gait stability following perturbations in the frontal plane in clinical populations.
COBISS.SI-ID: 2667881
Estimation of the centre of pressure (COP) is an important part of the gait analysis, for example, when evaluating the functional capacity of individuals affected by motor impairment. Inertial measurement units (IMUs) and force sensors are commonly used to measure gait characteristic of healthy and impaired subjects. We present a methodology for estimating the COP solely from raw gyroscope, accelerometer, and magnetometer data from IMUs using statistical modelling. We demonstrate the viability of the method using an example of two models: a linear model and a non-linear Long-Short-Term Memory (LSTM) neural network model. Models were trained on the COP ground truth data measured using an instrumented treadmill and achieved the average intra-subject root mean square (RMS) error between estimated and ground truth COP of 12.3 mm and the average inter-subject RMS error of 23.7 mm which is comparable or better than similar studies so far. We show that the calibration procedure in the instrumented treadmill can be as short as a couple of minutes without the decrease in our model performance. We also show that the magnetic component of the recorded IMU signal, which is most sensitive to environmental changes, can be safely dropped without a significant decrease in model performance. Finally, we show that the number of IMUs can be reduced to five without deterioration in the model performance.
COBISS.SI-ID: 34924291
Background: Generating appropriate balancing reactions in response to unexpected loss of balance during walking is important to prevent falls. The purpose of this study was to assess dynamic balancing responses following pushes to the pelvis in groups of post-stroke and healthy subjects. Methods: Forty-one post-stroke subjects and forty-three healthy subjects participated in the study. Dynamic balancing responses to perturbations triggered at heel strike of the left or right leg, directed in the forward, backward, inward and outward directions during slow treadmill walking were assessed. Responses of the healthy group provided reference values used to classify responses of the post-stroke group into two subgroups; one within the reference responses (“inside” subgroup) and the other that falls out (“outside” subgroup). A battery of selected clinical outcome measures (6-Minute Walk Test, 10-Meter Walk Test, Timed-Up-and-Go test, Four Square Step Test, Functional Gait Assessment, Functional Independence Measure and One-legged stance test) was additionally assessed in the post-stroke group. Results: The “inside” subgroup of post-stroke subjects was able to appropriately modulate centre-of-pressure and ground-reaction-force both under the impaired and non-impaired leg in response to perturbations. The “outside” subgroup of post-stroke subjects showed limited modulation of centre-of-pressure and ground-reaction-force under the impaired leg; instead stepping strategy was used in which the non-impaired leg was placed such as to make a longer step (forward perturbation), to make a shorter step (backward perturbation) or to make a cross-step (outward perturbation). Consequently, peak centre-of-mass displacements following perturbations were significantly higher in the “outside” subgroup compared to the “inside” subgroup. Responses in both subgroups following inward perturbations did not differ. Majority of clinical outcome measures moderately correlated with the peak centre-of-mass displacements for forward perturbations and exhibited weak correlations for other perturbation directions. Conclusions: Substantial number of post-stroke subjects, that were considered to be independent walkers, have reduced capabilities to execute appropriate balancing responses following perturbations commencing on the hemiparetic leg and may thus benefit from perturbation-based training. Timed-Up-and-Go and Functional Independence Measure tests may provide an indication on the abilities of each subject to counteract unexpected loss of balance. However, a reliable assessment should be done through perturbation-based measures.
COBISS.SI-ID: 21705475
Multiple strategies may be used when counteracting loss of balance during walking. Placing the foot onto a new location is not efficient when walking speed is very low. Instead medio-lateral displacement of center-of-pressure, rotation of body segments to produce a lateral ground-reaction-force and pronounced braking of movement in the plane of progression is used. It is however presently not known in what way these in-stance balancing strategies are interrelated. Twelve healthy subjects walked very slowly on an instrumented treadmill and received outward-directed pushes to the waist. We created experimental conditions where the use of stepping strategy to recover balance following an outward push was minimized by appropriately selecting the amplitude and timing of perturbation. Our experimental results showed that in the first part of the response the principal strategy used to counteract the effect of a perturbing push was a short but substantial increase in lateral ground-reaction-force. Concomitant slowing of the movement and related anterior displacement of center-of-pressure enabled lateral displacement of center-of-pressure which was, together with a short but substantial increase in vertical ground-reaction-force, instrumental in reducing the inevitable increase of whole-body angular momentum in the frontal plane. However, anterior displacement of center-of-pressure and increased vertical ground-reaction-force also induced an increase in whole-body angular momentum in the sagittal plane. In the second part of the response the lateral ground-reaction-force was decreased with respect to unperturbed walking thus allowing for a decrease of whole-body angular momentum in the frontal plane. Additionally, an increase in anterior ground-reaction-force in the second part of the response propelled the center-of-mass in the direction of movement, thus re-synchronizing it with the frontal plane component of the center-of-mass as well as decreasing whole-body angular momentum in the sagittal plane. The results of this study show that use of in-stance balancing strategies counteracts the effect a perturbing push imposed on the center-of-mass, re-synchronizes the movement of center-of-mass in sagittal and frontal planes to the values seen in unperturbed walking and maintains control of whole-body angular momentum in both frontal and sagittal planes.
COBISS.SI-ID: 24800771