Patient-cooperative control increases active participation of individuals with SCI during robot-aided gait training

Journal of NeuroEngineering and Rehabilitation

Volumn 7, Issue 1, 2010, Pages

  Duschau Wicke, Alexander ^a,b,c   Caprez, Andrea ^a,b   Riener, Robert ^a,b  

^a ETH ZURICH   (Switzerland)

^b BALGRIST UNIVERSITY HOSPITAL   (Switzerland)

^c HOCOMA AG   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

ADULT; ALGORITHM; ARTICLE; BIOMECHANICS; CLINICAL TRIAL; CONTROLLED CLINICAL TRIAL; CONTROLLED STUDY; ELECTROMYOGRAPHY; FEMALE; GAIT; HEART RATE; HISTOLOGY; HUMAN; JOINT; LEG; MALE; METHODOLOGY; MIDDLE AGED; MOVEMENT (PHYSIOLOGY); MOVEMENT THERAPY; PHYSICAL EDUCATION; PHYSIOLOGY; RANDOMIZED CONTROLLED TRIAL; ROBOTICS; SKELETAL MUSCLE; SPINAL CORD INJURY; STATISTICAL ANALYSIS;

ADULT; ALGORITHMS; BIOMECHANICS; DATA INTERPRETATION, STATISTICAL; ELECTROMYOGRAPHY; FEMALE; GAIT; HEART RATE; HUMANS; JOINTS; LEG; MALE; MIDDLE AGED; MOTION THERAPY, CONTINUOUS PASSIVE; MOVEMENT; MUSCLE, SKELETAL; PHYSICAL EDUCATION AND TRAINING; ROBOTICS; SPINAL CORD INJURIES;

EID: 77956462703     PISSN: None     EISSN: 17430003     Source Type: Journal    
DOI: 10.1186/1743-0003-7-43     Document Type: Article

References (60)

1. A new approach to retrain gait in stroke patients through body weight support and treadmill stimulation. M Visintin H Barbeau N Korner-Bitensky NE Mayo, Stroke; a journal of cerebral circulation 1998 29 6 1122 1128 9626282
2. Optimal outcomes obtained with body-Weight support combined with treadmill training in stroke subjects. H Barbeau M Visintin, Archives of Physical Medicine and Rehabilitation 2003 84 10 1458 1465 10.1016/S0003-9993(03) 00361-7 14586912
3. Effects of Task-Specific Locomotor and Strength Training in Adults Who Were Ambulatory After Stroke: Results of the STEPS Randomized Clinical Trial. KJ Sullivan DA Brown T Klassen S Mulroy T Ge SP Azen CJ Winstein, Phys Therapy 2007 87 12 1580 1602 10.2522/ptj.20060310 (Pubitemid 350230746)
4. The evolution of walking-related outcomes over the first 12 weeks of rehabilitation for incomplete traumatic spinal cord injury: the multicenter randomized Spinal Cord Injury Locomotor Trial. B Dobkin H Barbeau D Deforge J Ditunno R Elashoff D Apple M Basso A Behrman S Harkema M Saulino M Scott, Neurorehabil Neural Repair 2007 21 25 35 10.1177/1545968306295556 17172551
5. Robotic orthoses for body weight-supported treadmill training. P Winchester R Querry, Physical medicine and rehabilitation clinics of North America 2006 17 159 172 10.1016/j.pmr.2005.10.008 16517349
6. Driven gait orthosis for improvement of locomotor training in paraplegic patients. G Colombo M Wirz V Dietz, Spinal Cord 2001 39 5 252 255 10.1038/sj.sc.3101154 11438840
7. Robotic-assisted, body-weight-supported treadmill training in individuals following motor incomplete spinal cord injury. TG Hornby DH Zemon D Campbell, Phys Ther 2005 85 52 66 15623362
8. Effectiveness of automated locomotor training in patients with chronic incomplete spinal cord injury: a multicenter trial. M Wirz DH Zemon R Rupp A Scheel G Colombo V Dietz TG Hornby, Arch Phys Med Rehabil 2005 86 4 672 680 10.1016/j.apmr.2004.08.004 15827916
9. Prospective, Blinded, Randomized Crossover Study of Gait Rehabilitation in Stroke Patients Using the Lokomat Gait Orthosis. A Mayr M Kofler E Quirbach H Matzak K Frohlich L Saltuari, Neurorehabil Neural Repair 2007 21 4 307 314 10.1177/1545968307300697 17476001
10. The influence of different Lokomat walking conditions on the energy expenditure of hemiparetic patients and healthy subjects. C Krewer F Müller B Husemann S Heller J Quintern E Koenig, Gait Posture 2007 26 372 377 10.1016/j.gaitpost.2006.10.003 17113774
11. Repetitive locomotor training and physiotherapy improve walking and basic activities of daily living after stroke: a single-blind, randomized multicentre trial (DEutsche GAngtrainerStudie, DEGAS). M Pohl C Werner M Holzgraefe G Kroczek J Mehrholz I Wingendorf G Hoölig R Koch S Hesse, Clin Rehabil 2007 21 17 27 10.1177/0269215506071281 17213237
12. Enhanced Gait-Related Improvements After Therapist- Versus Robotic-Assisted Locomotor Training in Subjects With Chronic Stroke: A Randomized Controlled Study. TG Hornby DD Campbell JH Kahn T Demott JL Moore HR Roth, Stroke 2008 39 6 1786 1792 10.1161/STROKEAHA.107.504779 18467648
13. Multicenter Randomized Clinical Trial Evaluating the Effectiveness of the Lokomat in Subacute Stroke. J Hidler D Nichols M Pelliccio K Brady DD Campbell JH Kahn TG Hornby, Neurorehabil Neural Repair 2009 23 5 13 19109447
14. Pilot study of Lokomat versus manual-assisted treadmill training for locomotor recovery post-stroke. K Westlake C Patten, Journal of NeuroEngineering and Rehabilitation 2009 6 18 10.1186/1743-0003-6-18 19523207
15. Gait quality is improved by locomotor training in individuals with SCI regardless of training approach. C Nooijen N ter Hoeve E Field-Fote, Journal of NeuroEngineering and Rehabilitation 2009 6 36 10.1186/1743-0003-6-36 19799783
16. Metabolic costs and muscle activity patterns during robotic- and therapist-assisted treadmill walking in individuals with incomplete spinal cord injury. JF Israel DD Campbell JH Kahn GT Hornby, Phys Therapy 2006 86 11 1466 1478 10.2522/ptj.20050266 (Pubitemid 44672536)
17. Kinematic trajectories while walking within the Lokomat robotic gait-orthosis. J Hidler W Wisman N Neckel, Clinical Biomechanics 2008 23 10 1251 1259 10.1016/j.clinbiomech.2008.08.004 18849098
18. Motor learning elicited by voluntary drive. M Lotze C Braun N Birbaumer S Anders LG Cohen, Brain 2003 126 4 866 872 10.1093/brain/awg079 12615644
19. Role of voluntary drive in encoding an elementary motor memory. A Kaelin-Lang L Sawaki LG Cohen, J Neurophysiol 2005 93 2 1099 1103 10.1152/jn.00143.2004 15456807
20. Activity-Based Therapies. A Dromerick P Lum J Hidler, NeuroRX 2006 3 4 428 438 10.1016/j.nurx.2006.07.004 17012056
21. NA Bernstein, The Co-ordination and regulation of movements Pergamon Press Ltd. first 1967
22. Allowing Intralimb Kinematic Variability During Locomotor Training Poststroke Improves Kinematic Consistency: A Subgroup Analysis From a Randomized Clinical Trial. MD Lewek TH Cruz JL Moore HR Roth YY Dhaher TG Hornby, Physical therapy 2009 19520734
23. Robotic neurorehabilitation: a computational motor learning perspective. VS Huang JW Krakauer, Journal of NeuroEngineering and Rehabilitation 2009 6 5 10.1186/1743-0003-6-5 19243614
24. Patient-driven control of FES-supported standing up: a simulation study. R Riener T Fuhr, Rehabilitation Engineering, IEEE Transactions on 1998 6 2 113 124 10.1109/86.681177 (Pubitemid 28268635)
25. Automatic gait-pattern adaptation algorithms for rehabilitation with a 4-DOF robotic orthosis. S Jezernik G Colombo M Morari, IEEE Trans Robot Autom 2004 20 3 574 582 10.1109/TRA.2004.825515
26. Human-centered rehabilitation robotics. R Riener M Frey M Bernhardt T Nef G Colombo, Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on 2005 319 322 full-text
27. Robotic movement training as an optimization problem: designing a controller that assists only as needed. JL Emken JE Bobrow DJ Reinkensmeyer, IEEE Int. Conf. on Rehabilitation Robotics (ICORR), Chicago 2005 307 312 full-text
28. Tools for understanding and optimizing robotic gait training. DJ Reinkensmeyer D Aoyagi JL Emken JA Galvez W Ichinose G Kerdanyan S Maneekobkunwong K Minakata JA Nessler R Weber RR Roy R de Leon JE Bobrow SJ Harkema VR Edgerton, J Rehabil Res Dev 2006 43 5 657 670 10.1682/JRRD.2005.04. 0073 17123206
29. Active Leg Exoskeleton (ALEX) for Gait Rehabilitation of Motor-Impaired Patients. SK Banala SK Agrawal JP Scholz, Proc. IEEE 10th Int. Conf. Rehabil. Robot Noordwijk 2007 401 407 full-text
30. The Effects on Kinematics and Muscle Activity of Walking in a Robotic Gait Trainer During Zero-Force Control. EHF van Asseldonk JF Veneman R Ekkelenkamp JH Buurke FCT van der Helm H van der Kooij, IEEE Trans. Neural Syst. Rehabil. Eng 2008 16 4 360 370 10.1109/TNSRE.2008.925074 18713676
31. Iterative Learning Synchronization of Robotic Rehabilitation Tasks. A Duschau-Wicke J von Zitzewitz R Banz R Riener, Proc. IEEE 10th Int. Conf. Rehabil. Robot 2007 335 340 full-text
32. Patient-Cooperative Control: Providing Safe Support without Restricting Movement. H Vallery M Guidali A Duschau-Wicke R Riener, World Congress on Medical Physics and Biomedical Engineering, September 7 - 12, 2009, Munich, Germany Berlin, Heidelberg: Springer Berlin Heidelberg, Dössel O, Schlegel WC, 2009 25/9 166 169 full-text
33. Feasibility of Manual Teach-and-Replay and Continuous Impedance Shaping for Robotic Locomotor Training Following Spinal Cord Injury. JL Emken SJ Harkema JA Beres-Jones CK Ferreira DJ Reinkensmeyer, IEEE Trans. Biomed. Eng 2008 55 322 334 10.1109/TBME.2007.910683 18232376
34. Review of control strategies for robotic movement training after neurologic injury. L Marchal Crespo D Reinkensmeyer, Journal of neuroengineering and rehabilitation 2009 6 20 10.1186/1743-0003-6-20 19531254
35. Rehabilitation robotics: Performance-based progressive robot-assisted therapy. H Krebs JJ Palazzolo L Dipietro M Ferraro J Krol K Rannekleiv N Hogan, Autonomous Robots 2003 15 7 20 10.1023/A:1024494031121
36. Do robotic and non-robotic arm movement training drive motor recovery after stroke by a common neural mechanism? Experimental evidence and a computational model. DJ Reinkensmeyer MA Maier E Guigon V Chan O Akoner ET Wolbrecht SC Cramer JE Bobrow, Conf. IEEE Engineering in Medicine and Biology Society (EMBS) 2009 2439 2441 full-text
37. Path Control: A Method for Patient-Cooperative Robot-Aided Gait Rehabilitation. A Duschau-Wicke J von Zitzewitz A Caprez L Lünenburger R Riener, IEEE Transactions on Neural Systems and Rehabilitation Engineering 2010 18 38 48 10.1109/TNSRE.2009.2033061 20194054
38. Treadmill training of paraplegic patients using a robotic orthosis. G Colombo M Joerg R Schreier V Dietz, J Rehabil Res Dev 2000 37 6 693 700 11321005
39. Implications of assist-as-needed robotic step training after a complete spinal cord injury on intrinsic strategies of motor learning. LL Cai AJ Fong CK Otoshi Y Liang JW Burdick RR Roy VR Edgerton, J Neurosci 2006 26 41 10564 10568 10.1523/JNEUROSCI.2266-06.2006 17035542
40. Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX). SK Banala SH Kim SK Agrawal JP Scholz, IEEE Trans. Neural Syst. Rehabil. Eng 2009 17 2 8 10.1109/TNSRE.2008.2008280 19211317
41. Compliant actuation of rehabilitation robots. H Vallery J Veneman E van Asseldonk R Ekkelenkamp M Buss H van Der Kooij, Robotics & Automation Magazine, IEEE 2008 15 3 60 69
42. HJ Hermens B Freriks R Merletti D Stegeman J Blok G Rau C Disselhorst-Klug G Haegg, European Recommendations for Surface Electromyography 1999
43. Specific influences of cerebellar dysfunctions on gait. A Martin, Brain 2007 130 3 786 798 10.1093/brain/awl376 17287287
44. Morphable Models for the Analysis and Synthesis of Complex Motion Patterns. MA Giese T Poggio, Int J Comp Vis 2000 38 59 73 10.1023/A: 1008118801668
45. JD Gibbons, Nonparametric Statistical Inference Marcel Dekker Ltd 1985
46. J Perry, Gait Analysis: Normal and Pathological Function Delmar Learning 1992
47. BT West KB Welch AT Galecki, Linear Mixed Models: A Practical Guide Using Statistical Software Chapmann Hall/CRC Press 2006
48. Influence of haptic guidance in learning a novel visuomotor task. EH van Asseldonk M Wessels AH Stienen FC van der Helm H van der Kooij, Journal of physiology, Paris 2009 103 3-5 276 285 10.1016/j.jphysparis.2009.08.010 19665551
49. A Comparison Between Electromyography-Driven Robot and Passive Motion Device on Wrist Rehabilitation for Chronic Stroke. XL Hu Ky Tong R Song XJ Zheng WWF Leung, Neurorehabilitation and Neural Repair 2009 23 8 837 846 10.1177/1545968309338191 19531605
50. Swing Phase Resistance Enhances Flexor Muscle Activity During Treadmill Locomotion in Incomplete Spinal Cord Injury. T Lam M Wirz L Lünenburger V Dietz, Neurorehabil Neural Repair 2008 22 5 438 446 10.1177/1545968308315595 18780879
51. Motor adaptation as a greedy optimization of error and effort. JL Emken R Benitez A Sideris JE Bobrow DJ Reinkensmeyer, Journal of neurophysiology 2007 97 6 3997 4006 10.1152/jn.01095.2006 17392418
52. A computational model of human-robot load sharing during robot-assisted arm movement training after stroke. DJ Reinkensmeyer E Wolbrecht J Bobrow, Conference proceedings:. Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference 2007 2007 4019 4023 18002881
53. CNS Learns Stable, Accurate, and Efficient Movements Using a Simple Algorithm. DW Franklin E Burdet K Peng Tee R Osu CM Chew TE Milner M Kawato, J Neurosci 2008 28 44 11165 11173 10.1523/JNEUROSCI.3099-08.2008 18971459
54. Slacking by the human motor system: computational models and implications for robotic orthoses. DJ Reinkensmeyer O Akoner DP Ferris KE Gordon, 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, IEEE 2009 2009 2129 2132 full-text
55. Optimizing Compliant, Model-Based Robotic Assistance to Promote Neurorehabilitation. ET Wolbrecht V Chan DJ Reinkensmeyer JE Bobrow, IEEE Trans. Neural Syst. Rehabil. Eng 2008 16 3 286 297 10.1109/TNSRE.2008.918389 18586608
56. A Novel Method for Automatic Treadmill Speed Adaptation. J von Zitzewitz M Bernhardt R Riener, IEEE Trans. Neural Syst. Rehabil. Eng 2007 15 3 401 409 10.1109/TNSRE.2007.903926 17894272
57. Feedback Control of Oxygen Uptake During Robot-Assisted Gait. A Pennycott KJ Hunt S Coupaud DB Allan TH Kakebeeke, IEEE Transactions on Control Systems Technology 2010 18 136 142 10.1109/TCST.2008.2009465
58. International Standards for Neurological and Functional Classification of Spinal Cord Injury. FM Maynard MB Bracken G Creasey JF Ditunno WH Donovan TB Ducker SL Garber RJ Marino SL Stover CH Tator Others, Spinal Cord 1997 35 266 274 10.1038/sj.sc.3100432 9160449
59. The Spinal Cord Independence Measure (SCIM) version III: reliability and validity in a multi-center international study. M Itzkovich I Gelernter F Biering-Sorensen C Weeks MT Laramee BC Craven M Tonack SL Hitzig E Glaser G Zeilig S Aito G Scivoletto M Mecci RJ Chadwick WS Masry A Osman CA Glass P Silva BM Soni BP Gardner G Savic EM Bergström V Bluvshtein J Ronen A Catz, Disabil Rehabil 2007 29 24 1926 1933 10.1080/09638280601046302 17852230
60. Walking index for spinal cord injury (WISCI II): scale revision. PL Dittuno JF Dittuno, Spinal Cord 2001 39 654 656 10.1038/sj.sc.3101223 11781863