Switching curve control of functional electrical stimulation assisted rowing exercise in paraplegia

An indoor rowing machine has been modified for functional electrical stimulation (FES) assisted rowing exercise in paraplegia. To perform the rowing manoeuvre successfully, however, the voluntarily controlled upper body movements must be co-ordinated with the movements of the electrically stimulated paralysed legs. To achieve such co-ordination, an automatic FES controller was developed that employs two levels of hierarchy. At the upper level, a finite state controller identifies the state or phase of the rowing cycle and activates the appropriate lower-level controller, in which electrical stimulation to the paralysed leg muscles is applied with reference to switching curves representing the desired seat velocity as a function of the seat position. In a pilot study, the hierarchical control of FES rowing was shown to be intuitive, reliable and easy to use. Compared with open-loop control of stimulation, all three variants of the closed-loop switching curve controllers used less muscle stimulation per rowing cycle (73% of the open-loop control on average). Further, the closed-loop controller that used switching curves derived from normal rowing kinematics used the lowest muscle stimulation (65% of the open-loop control) and was the most convenient to use for the client.

Development and experimental identification of a biomechanical model of the trunk for functional electrical stimulation control in paraplegia

Objectives. Theoretic modeling and experimental studies suggest that functional electrical stimulation (FES) can improve trunk balance in spinal cord injured subjects. This can have a positive impact on daily life, increasing the volume of bimanual workspace, improving sitting posture, and wheelchair propulsion. A closed loop controller for the stimulation is desirable, as it can potentially decrease muscle fatigue and offer better rejection to disturbances. This paper proposes a biomechanical model of the human trunk, and a procedure for its identification, to be used for the future development of FES controllers. The advantage over previous models resides in the simplicity of the solution proposed, which makes it possible to identify the model just before a stimulation session ( taking into account the variability of the muscle response to the FES). Materials and Methods. The structure of the model is based on previous research on FES and muscle physiology. Some details could not be inferred from previous studies, and were determined from experimental data. Experiments with a paraplegic volunteer were conducted in order to measure the moments exerted by the trunk-passive tissues and artificially stimulated muscles. Data for model identification and validation also were collected. Results. Using the proposed structure and identification procedure, the model could adequately reproduce the moments exerted during the experiments. The study reveals that the stimulated trunk extensors can exert maximal moment when the trunk is in the upright position. In contrast, previous studies show that able-bodied subjects can exert maximal trunk extension when flexed forward. Conclusions. The proposed model and identification procedure are a successful first step toward the development of a model-based controller for trunk FES. The model also gives information on the trunk in unique conditions, normally not observable in able-bodied subjects (ie, subject only to extensor muscles contraction).

Modulation of electrical stimulation applied to human physiology and clinical diagnostic

The use, manipulation and application of electrical currents, as a controlled interference mechanism in the human body system, is currently a strong source of motivation to researchers in areas such as clinical, sports, neuroscience, amongst others. In electrical stimulation (ES), the current applied to tissue is traditionally controlled concerning stimulation amplitude, frequency and pulse-width. The main drawbacks of the transcutaneous ES are the rapid fatigue induction and the high discomfort induced by the non-selective activation of nervous fibers. There are, however, electrophysiological parameters whose response, like the response to different stimulation waveforms, polarity or a personalized charge control, is still unknown. The study of the following questions is of great importance: What is the physiological effect of the electric pulse parametrization concerning charge, waveform and polarity? Does the effect change with the clinical condition of the subjects? The parametrization influence on muscle recruitment can retard fatigue onset? Can parametrization enable fiber selectivity, optimizing the motor fibers recruitment rather than the nervous fibers, reducing contraction discomfort? Current hardware solutions lack flexibility at the level of stimulation control and physiological response assessment. To answer these questions, a miniaturized, portable and wireless controlled device with ES functions and full integration with a generic biosignals acquisition platform has been created. Hardware was also developed to provide complete freedom for controlling the applied current with respect to the waveform, polarity, frequency, amplitude, pulse-width and duration. The impact of the methodologies developed is successfully applied and evaluated in the contexts of fundamental electrophysiology, psycho-motor rehabilitation and neuromuscular disorders diagnosis. This PhD project was carried out in the Physics Department of Faculty of Sciences and Technology (FCT-UNL), in straight collaboration with PLUX - Wireless Biosignals S.A. company and co-funded by the Foundation for Science and Technology.

Differential cellular FGF-2 upregulation in the rat facial nucleus following axotomy, functional electrical stimulation and corticosterone: a possible therapeutic target to Bell's palsy

Abstract Background The etiology of Bell's palsy can vary but anterograde axonal degeneration may delay spontaneous functional recovery leading the necessity of therapeutic interventions. Corticotherapy and/or complementary rehabilitation interventions have been employed. Thus the natural history of the disease reports to a neurotrophic resistance of adult facial motoneurons leading a favorable evolution however the related molecular mechanisms that might be therapeutically addressed in the resistant cases are not known. Fibroblast growth factor-2 (FGF-2) pathway signaling is a potential candidate for therapeutic development because its role on wound repair and autocrine/paracrine trophic mechanisms in the lesioned nervous system. Methods Adult rats received unilateral facial nerve crush, transection with amputation of nerve branches, or sham operation. Other group of unlesioned rats received a daily functional electrical stimulation in the levator labii superioris muscle (1 mA, 30 Hz, square wave) or systemic corticosterone (10 mgkg-1). Animals were sacrificed seven days later. Results Crush and transection lesions promoted no changes in the number of neurons but increased the neurofilament in the neuronal neuropil of axotomized facial nuclei. Axotomy also elevated the number of GFAP astrocytes (143% after crush; 277% after transection) and nuclear FGF-2 (57% after transection) in astrocytes (confirmed by two-color immunoperoxidase) in the ipsilateral facial nucleus. Image analysis reveled that a seven days functional electrical stimulation or corticosterone led to elevations of FGF-2 in the cytoplasm of neurons and in the nucleus of reactive astrocytes, respectively, without astrocytic reaction. Conclusion FGF-2 may exert paracrine/autocrine trophic actions in the facial nucleus and may be relevant as a therapeutic target to Bell's palsy.

Stimulation discomfort comparison of asynchronous and synchronous methods with multi-field electrodes

Functional Electrical Stimulation (FES) is a technique that consists on applying electrical current pulses to artificially activate motor nerve fibers and produce muscle contractions to achieve functional movements. The main applications of FES are within the rehabilitation field, in which this technique is used to aid recovery or to restore lost motor functions. People that benefit of FES are usually patients with neurological disorders which result in motor dysfunctions; most common patients include stroke and spinal cord injury (SCI). Neuroprosthesis are devices that have their basis in FES technique, and their aim is to bridge interrupted or damaged neural paths between the brain and upper or lower limbs. One of the aims of neuroprosthesis is to artificially generate muscle contractions that produce functional movements, and therefore, assist impaired people by making them able to perform activities of daily living (ADL). FES applies current pulses and stimulates nerve fibers by means of electrodes, which can be either implanted or surface electrodes. Both of them have advantages and disadvantages. Implanted electrodes need open surgery to place them next to the nerve root, so these electrodes carry many disadvantages that are produced by the use of invasive techniques. In return, as the electrodes are attached to the nerve, they make it easier to achieve selective functional movements. On the contrary, surface electrodes are not invasive and are easily attached or detached on the skin. Main disadvantages of surface electrodes are the difficulty of selectively stimulating nerve fibers and uncomfortable feeling perceived by users due to sensory nerves located in the skin. Electrical stimulation surface electrode technology has improved significantly through the years and recently, multi-field electrodes have been suggested. This multi-field or matrix electrode approach brings many advantages to FES; among them it is the possibility of easily applying different stimulation methods and techniques. The main goal of this thesis is therefore, to test two stimulation methods, which are asynchronous and synchronous stimulation, in the upper limb with multi-field electrodes. To this end, a purpose-built wrist torque measuring system and a graphic user interface were developed to measure wrist torque produced with each of the methods and to efficiently carry out the experiments. Then, both methods were tested on 15 healthy subjects and sensitivity results were analyzed for different cases. Results show that there are significant differences between methods regarding sensation in some cases, which can affect effectiveness or success of FES.

Tele-Supervised FES-Assisted Exercise for Hemiplegic Upper Limb

Stroke survivors often have upper limb (UL) hemiparesis, limiting their ability to perform activities of daily life (ADLs). Intensive, task-oriented exercise therapy (ET) can improve UL function, but motivation to perform sufficient ET is difficult to maintain. Here we report on a trial in which a workstation was deployed in the homes of chronic stroke survivors to enable tele-coaching of ET in the guise of computer games. Participants performed 6 weeks of 1 hour/day, 5 days/week ET. Hand opening and grasp were assisted with functional electrical stimulation (FES). The primary outcome measure was the Action Research Arm Test (ARAT). Secondary outcome measures included a quantitative test of UL function performed on the workstation, grasp force measurements and transcranial magnetic stimulation (TMS). Improvements were seen in the functional tests, but surprisingly, not in the TMS responses. An important finding was that participants commencing with intermediate functional scores improved the most.

CONCLUSIONS: 1) Daily, tele-supervised FES-ET in chronic stroke survivors is feasible with commercially-available technology. 2) The intervention can significantly improve UL function, particularly in people who start with an intermediate level of function. 3) Significant improvements in UL function can occur in the absence of changes in TMS responses.

Activation of lower back muscles via FES for pressure sores prevention in paraplegia: a case study

The aim of this paper is to show the feasibility of the use of functional electrical stimulation (FES) applied to the lower back muscles for pressure sores prevention in paraplegia. The hypothesis under study is that FES induces a change in the pressure distribution on the contact area during sitting. Tests were conducted on a paraplegic subject (T5), sitting on a standard wheelchair and cushion. Trunk extensors (mainly the erector spinae) were stimulated using surface electrodes placed on the skin. A pressure mapping system was used to measure the pressure on the sitting surface in four situations: (a) no stimulation; (b) stimulation on one side of the spine only; (c) stimulation on both sides, at different levels; and (d) stimulation at the same level on both sides, during pressure-relief manoeuvres. A session of prolonged stimulation was also conducted. The experimental results show that the stimulation of the erector spinae on one side of the spine can induce a trunk rotation on the sagittal plane, which causes a change in the pressure distribution. A decrease of pressure on the side opposite to the stimulation was recorded. The phenomenon is intensified when different levels of stimulation are applied to the two sides, and such change can be sustained for a considerable time (around 5 minutes). The stimulation did not induce changes during pressure-relief manoeuvres. Finally, from this research we can conclude that the stimulation of the trunk extensors can be a useful tool for pressure sores prevention, and can potentially be used in a routine for pressure sores prevention based on periodical weight shifts.

High-volume FES-cycling partially reverses bone loss in people with chronic spinal cord injury

Spinal cord injury (SCI) leads to severe bone loss in the paralysed limbs and to a resulting increased fracture risk thereof. Since long bone fractures can lead to comorbidities and a reduction in quality of life, it is important to improve bone strength in people with chronic SCI. In this prospective longitudinal cohort study, we investigated whether functional electrical stimulation (FES) induced high-volume cycle training can partially reverse the loss of bone substance in the legs after chronic complete SCI. Eleven participants with motor-sensory complete SCI (mean age 41.9+/-7.5 years; 11.0+/-7.1 years post injury) were recruited. After an initial phase of 14+/-7 weeks of FES muscle conditioning, participants performed on average 3.7+/-0.6 FES-cycling sessions per week, of 58+/-5 min each, over 12 months at each individual's highest power output. Bone and muscle parameters were investigated in the legs by means of peripheral quantitative computed tomography before the muscle conditioning (t1), and after six (t2) and 12 months (t3) of high-volume FES-cycle training. After 12 months of FES-cycling, trabecular and total bone mineral density (BMD) as well as total cross-sectional area in the distal femoral epiphysis increased significantly by 14.4+/-21.1%, 7.0+/-10.8% and 1.2+/-1.5%, respectively. Bone parameters in the femoral shaft showed small but significant decreases, with a reduction of 0.4+/-0.4% in cortical BMD, 1.8+/-3.0% in bone mineral content, and 1.5+/-2.1% in cortical thickness. These decreases mainly occurred between t1 and t2. No significant changes were found in any of the measured bone parameters in the tibia. Muscle CSA at the thigh increased significantly by 35.5+/-18.3%, while fat CSA at the shank decreased by 16.7+/-12.3%. Our results indicate that high-volume FES-cycle training leads to site-specific skeletal changes in the paralysed limbs, with an increase in bone parameters at the actively loaded distal femur but not the passively loaded tibia. Thus, we conclude that high-volume FES-induced cycle training has clinical relevance as it can partially reverse bone loss and thus may reduce fracture risk at this fracture prone site.

Controle de um sistema de eletroestimulação funcional.

Esta Dissertação irá apresentar a utilização de técnicas de controle nãolinear, tais como o controle adaptativo e robusto, de modo a controlar um sistema de Eletroestimulação Funcional desenvolvido pelo laboratório de Engenharia Biomédica da COPPE/UFRJ. Basicamente um Eletroestimulador Funcional (Functional Electrical Stimulation FES) se baseia na estimulação dos nervos motores via eletrodos cutâneos de modo a movimentar (contrair ou distender) os músculos, visando o fortalecimento muscular, a ativação de vias nervosas (reinervação), manutenção da amplitude de movimento, controle de espasticidade muscular, retardo de atrofias e manutenção de tonicidade muscular. O sistema utilizado tem por objetivo movimentar os membros superiores através do estímulo elétrico de modo a atingir ângulos-alvo pré-determinados para a articulação do cotovelo. Devido ao fato de não termos conhecimento pleno do funcionamento neuro-motor humano e do mesmo ser variante no tempo, não-linear, com parâmetros incertos, sujeito a perturbações e completamente diferente para cada indivíduo, se faz necessário o uso de técnicas de controle avançadas na tentativa de se estabilizar e controlar esse tipo de sistema. O objetivo principal é verificar experimentalmente a eficácia dessas técnicas de controle não-linear e adaptativo em comparação às técnicas clássicas, de modo a alcançar um controle mais rápido, robusto e que tenha um desempenho satisfatório. Em face disso, espera-se ampliar o campo de utilização de técnicas de controle adaptativo e robusto, além de outras técnicas de sistemas inteligentes, tais como os algoritmos genéticos, provando que sua aplicação pode ser efetiva no campo de sistemas biológicos e biomédicos, auxiliando assim na melhoria do tratamento de pacientes envolvidos nas pesquisas desenvolvidas no Laboratório de Engenharia Biomédica da COPPE/UFRJ.

O efeito da aplicação da Estimulação Elétrica Funcional na reabilitação em adultos com lesão medular completa. Revisão Sistemática

Introdução: A Lesão Medular (LM) é um dos mais devastadores e traumáticos eventos que um Ser Humano pode vivenciar do ponto de vista clínico e emocional, demonstrando-se fundamental a disponibilização de recursos específicos para que o indivíduo possa enfrentar e gerir a sua nova realidade da melhor maneira possível. Alguns estudos têm vindo a demonstrar os benefícios de programas de reabilitação com estimulação elétrica funcional (EEF). Portanto, é de importante relevância perceber os reais efeitos da intervenção na recuperação de indivíduos com este diagnóstico. Objetivo: Analisar as evidências de abordagens de aplicação de correntes de estimulação elétrica funcional (EEF) para coadjuvar na reabilitação em adultos com lesão medular completa. Métodos: Foi conduzida uma pesquisa dos artigos preferencialmente estudos randomized controlled trials RCT´s e estudos quasi-experimentais com os mesmos participantes foram admitidos complementarmente aos experimentais compreendidos entre 2004 e 2013, bem como as citações e as referências bibliográficas de cada estudo nas principais bases de dados de ciências da saúde (Elsevier – Science Direct, Highwire Press, PEDro, PubMed, Scielo Portugal, Clinical Key, B-on, Biomed Central, LILACS- Literatura Latino-Americana e do Caribe em Ciências da Saúde) com as palavras-chave: “spinal cord injuries”, “rehabilitation, electric stimulation funtional”, “FES”, “therapy” em todas as combinações possíveis. Os estudos RCT’s foram analisados independentemente por dois revisores quanto aos critérios de inclusão e qualidade dos estudos. Resultados: Dos 857 estudos identificados apenas sete foram incluídos. Destes, dois apresentaram um score 3/10, um apresentou 4/10, um apresentou um score 5/10. O score total bem como o preenchimento ou não de cada critério encontram-se detalhados na tabela 1 e organizados por ordem alfabética de autores. Todos os estudos incluíram indivíduos com Lesão Medular Completa, idades entre 16 e 68 anos com diagnóstico de acordo com a American Spinal Injury Association (ASIA).Os programas de intervenção dividiram-se em programas de programas de força, densidade mineral óssea, cardiorrespiratório e de atividade física. Dos estudos incluídos, cinco apresentaram melhorias na reabilitação funcional para o grupo experimental, demonstrando assim uma influência positiva da estimulação elétrica funcional em lesões medulares completas. Apenas dois estudos não apresentaram diferenças estatisticamente significativas com relevância clínica. Conclusão: Há uma tendência notória do benefício dos programas com EEF em pacientes com lesões medulares completas parece melhorar a capacidade cardiorrespiratória, a densidade mineral óssea, a força e atividade física, dos indivíduos. Contudo, mais estudos com elevada qualidade metodológica serão essenciais para conceber o real efeito da sua aplicação. Palavras-chave: lesão medular completa; estimulação elétrica funcional, randomized controlled trials, revisão sistemática.

Realimentação derivativa e modelo fuzzy Takagi-Sugeno paracontrole da articulação do joelho de pacientes paraplégicos com o uso de acelerômetros

Feedback control systems have been used to move the muscles and joints of the limbs of paraplegic patients. The feedback signal, related to the knee joint angle, can be obtained by using an electrogoniometer. However, the use of accelerometers can help the measurements due the facility of adhering these devices to the skin. Accelerometers are also very suitable for these applications due their small dimensions and weight. In this paper a new method for designing a control system that can vary the knee joint angle using Functional Electrical Stimulation (FES) is presented, as well as a simulation with parameters values available in the literature. The nonlinear control system was represented by a Takagi-Sugeno fuzzy model and the feedback signals were obtained by using accelerometers. The design method considered all plant nonlinearities and was efficient and reliable to control the leg position of a paraplegic patient with the angle of the knee ranging from 0° to 30°, considering electric stimulation at the quadriceps muscle. The proposed method is viable and offers a new alternative for designing control systems of the knee joint angle using more comfortable sensors for the patients.

Controle da posição da perna de pessoas hígidas utilizando um controlador PID

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Eletroestimulador funcional de oito canais com malha de realimentação utilizando Controlador Digital

Pós-graduação em Engenharia Elétrica - FEIS

Implementação de um sistema para geração e avaliação de movimentos em pacientes hemiplégicos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)