Modeling and Analysis of Sensorimotor Dynamics in Inter-leg Coupling Leads to a Novel Model-based Approach to Human Gait Rehabilitation

腿间耦合中感觉运动动力学的建模和分析带来了一种基于模型的人类步态康复新方法

• 批准号: 2015786
• 负责人: Panagiotis Artemiadis
• 金额: $ 17.86万
• 依托单位: University of Delaware
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-08-12 至 2022-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2015786&HistoricalAwards=false
• 关键词: Modeling; Analysis; Sensorimotor; Dynamics; Inter

The main research goal of this project is to create a dynamic model of coordination between legs during gait, and to apply that model to rehabilitation of individuals suffering from hemiparesis, that is, weakness on one side of their body. Such weakness -- due to injury, or to a neurological disorder such as stroke -- and the associated difficulty in walking, has become a pressing public health problem. One of the main reasons gait rehabilitation has not been very successful so far is the lack of basic understanding of the dynamics of gait in both intact and impaired walkers. A major scientific challenge for the field is the creation of a comprehensive sensorimotor model, which can be used to understand inter-leg coordination, a fundamental mechanisms of walking. Experiments enabled by a novel robotic variable stiffness treadmill will be used to model walking gaits of individuals with hemiparesis, and to inform model-based robotic interventions for rehabilitation. The benefits of this approach will be also realized in other fields, including orthotics and prosthetics, as well as in robotic walkers. The project will address important research questions related to inter-leg coordination mechanisms during gait that will provide the foundation for transformative gait retraining methods. More specifically, the unique investigation of the effect of sensory feedback on neuromuscular mechanisms of inter-leg coordination, made possible by the Variable Stiffness Treadmill, will be used as a window into the sensorimotor control mechanisms of gait. A system dynamics and control approach to robotic intervention for retraining gait will enhance our understanding of the role of the sensori-motor processes involved in gait. Understanding and modeling the dynamics that govern the sensori-motor mechanisms of inter-leg coordination in gait naturally results in the introduction of model-based interventions for gait therapy using inter-leg coupling, which has never been attempted before. Specifically, the project leverages existing central mechanisms of leg coordination and introduces the concept of evoking activity on the paretic leg through model-based interventions on the unimpaired leg. Inter-leg coordination, a fundamental process of walking, is going to be investigated and modeled as a multivariable dynamical system in intact walkers using the unique sensori-motor capabilities of the Variable Stiffness Treadmill. Then, the same experimental protocol will be applied to hemiparetic walkers. The goal is to understand the altered dynamics and specific gait mechanisms and pathways that are disrupted in hemiparesis. Finally, the developed models will result in targeted model-based interventions towards gait therapy of stroke survivors.

该项目的主要研究目标是创建步态过程中双腿之间协调的动态模型，并将该模型应用于偏瘫（即身体一侧无力）患者的康复中。由于受伤或中风等神经系统疾病而导致的无力以及相关的行走困难，已成为一个紧迫的公共卫生问题。迄今为止，步态康复还不太成功的主要原因之一是对完整步行者和受损步行者的步态动力学缺乏基本了解。该领域的一个主要科学挑战是创建一个全面的感觉运动模型，该模型可用于理解腿间协调，这是步行的基本机制。由新型机器人可变刚度跑步机进行的实验将用于模拟偏瘫患者的步行步态，并为基于模型的机器人康复干预提供信息。这种方法的好处也将在其他领域实现，包括矫形器和假肢以及机器人步行器。该项目将解决与步态期间腿间协调机制相关的重要研究问题，这将为变革性步态再训练方法奠定基础。更具体地说，通过可变刚度跑步机，对感觉反馈对腿间协调的神经肌肉机制的影响进行了独特的研究，这将被用作了解步态感觉运动控制机制的窗口。用于再训练步态的机器人干预的系统动力学和控制方法将增强我们对步态中涉及的感觉运动过程的作用的理解。了解和建模控制步态中腿间协调的感觉运动机制的动力学自然会导致引入基于模型的干预措施，以使用腿间耦合进行步态治疗，这是以前从未尝试过的。具体来说，该项目利用现有的腿部协调中央机制，并通过对未受损腿部进行基于模型的干预，引入了诱发瘫痪腿部活动的概念。腿间协调是行走的基本过程，我们将利用可变刚度跑步机独特的感觉运动功能对完整步行者的多变量动力系统进行研究和建模。然后，相同的实验方案将应用于偏瘫步行者。目标是了解偏瘫中被破坏的动态变化以及特定步态机制和途径。最后，开发的模型将针对中风幸存者的步态治疗产生基于模型的有针对性的干预措施。

项目成果

F-VESPA: A Kinematic-based Algorithm for Real-time Heel-strike Detection During Walking

F-VESPA：一种基于运动学的算法，用于步行期间实时检测脚跟着地

• DOI: 10.1109/iros51168.2021.9636335
• 发表时间: 2021-09
• 期刊: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems
• 作者: Karakasis, Chrysostomos;Artemiadis, Panagiotis
• 通讯作者: Artemiadis, Panagiotis

Real-time kinematic-based detection of foot-strike during walking

基于运动学的步行过程中足部触地的实时检测

• DOI: 10.1016/j.jbiomech.2021.110849
• 发表时间: 2021-12
• 期刊: Journal of Biomechanics
• 影响因子: 2.4
• 作者: Karakasis, Chrysostomos;Artemiadis, Panagiotis
• 通讯作者: Artemiadis, Panagiotis

Quantifying Kinematic Adaptations of Gait During Walking on Terrains of Varying Surface Compliance

量化在不同表面顺应性的地形上行走时步态的运动适应

• 发表时间: 2020-01
• 期刊: Proceedings of the IEEERASEMBS International Conference on Biomedical Robotics and Biomechatronics
• 作者: Lehmann, Lynsey;Artemiadis, Panagiotis
• 通讯作者: Artemiadis, Panagiotis

A Review of Robot-Assisted Lower-Limb Stroke Therapy: Unexplored Paths and Future Directions in Gait Rehabilitation

机器人辅助下肢中风治疗的回顾：步态康复的未探索路径和未来方向

• DOI: 10.3389/fnbot.2020.00019
• 发表时间: 2020-04-15
• 期刊: Frontiers in Neurorobotics
• 影响因子: 3.1
• 作者: Bradley Hobbs;P. Artemiadis
• 通讯作者: P. Artemiadis

Repeated Robot-Assisted Unilateral Stiffness Perturbations Result in Significant Aftereffects Relevant to Post-Stroke Gait Rehabilitation

重复的机器人辅助单侧刚度扰动会导致与中风后步态康复相关的显着后遗症

• DOI: 10.1109/icra46639.2022.9812323
• 发表时间: 2022-05
• 期刊: International Conference on Robotics and Automation
• 作者: Chambers, Vaughn;Artemiadis, Panagiotis
• 通讯作者: Artemiadis, Panagiotis