Motor improvement estimation and task adaptation for personalized robot-aided therapy: a feasibility study

Giang, Christian; Pirondini, Elvira; Kinany, Nawal; Pierella, Camilla; Panarese, Alessandro; Coscia, Martina; Miehlbradt, Jenifer; Magnin, Cécile; Nicolo, Pierre; Guggisberg, Adrian G.; Micera, Silvestro

doi:10.1186/s12938-020-00779-y

Cited by 14 publications

(10 citation statements)

References 62 publications

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“…The enrolled stroke participants were receiving different therapies during the period of experimental training, including extra sessions of conventional therapy without the use of robotic devices; or standard robot-assisted rehabilitation therapy with an upper-limb exoskeleton; or automatic personalized robot-assisted rehabilitation therapy with an upper-limb exoskeleton [31] (see supplementary material for details on patients' division during the experimental training (available online at stacks.iop.org/JNE/17/045002/mmedia)).…”

Section: Experimental Set-up and Proceduresmentioning

confidence: 99%

A multimodal approach to capture post-stroke temporal dynamics of recovery

et al. 2020

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Objective. Several training programs have been developed in the past to restore motor functions after stroke. Their efficacy strongly relies on the possibility to assess individual levels of impairment and recovery rate. However, commonly used clinical scales rely mainly on subjective functional assessments and are not able to provide a complete description of patients’ neuro-biomechanical status. Therefore, current clinical tests should be integrated with specific physiological measurements, i.e. kinematic, muscular, and brain activities, to obtain a deep understanding of patients’ condition and of its evolution through time and rehabilitative intervention. Approach. We proposed a multivariate approach for motor control assessment that simultaneously measures kinematic, muscle and brain activity and combines the main physiological variables extracted from these signals using principal component analysis (PCA). We tested it in a group of six sub-acute stroke subjects evaluated extensively before and after a four-week training, using an upper-limb exoskeleton while performing a reaching task, along with brain and muscle measurements. Main results. After training, all subjects exhibited clinical improvements correlating with changes in kinematics, muscle synergies, and spinal maps. Movements were smoother and faster, while muscle synergies increased in numbers and became more similar to those of the healthy controls. These findings were coupled with changes in cortical oscillations depicted by EEG-topographies. When combining these physiological variables using PCA, we found that (i) patients’ kinematic and spinal maps parameters improved continuously during the four assessments; (ii) muscle coordination augmented mainly during treatment, and (iii) brain oscillations recovered mostly pre-treatment as a consequence of short-term subacute changes. Significance. Although these are preliminary results, the proposed approach has the potential of identifying significant biomarkers for patient stratification as well as for the design of more effective rehabilitation protocols.

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Section: Experimental Set-up and Proceduresmentioning

confidence: 99%

A multimodal approach to capture post-stroke temporal dynamics of recovery

et al. 2020

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“…Robotic neurorehabilitation utilizes motor tasks to induce neural plasticity that will improve motor function and help in recovery from post injury loss of motor abilities [63, 64]. For example, a recent study demonstrated the ability to personalize robotic rehabilitation training and monitor motor improvement in reaching by linking it to visuomotor adaptation [65]. However, there have also been many reports concerning the lack of generalization from such oversimplified movements to activities of daily living [66].…”

Section: Discussionmentioning

confidence: 99%

Orientation control strategies and adaptation to a visuomotor perturbation in rotational hand movements

Zruya

Nisky

2022

Preprint

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Computational approaches to biological motor control are used to discover the building blocks of human motor behavior. Models explaining features of human hand movements have been studied thoroughly, yet only a few studies attempted to explain the control of the orientation of the hand; instead, they mainly focus on the control of hand translation, predominantly in a single plane. In this study, we aimed to establish a basic understanding of the way humans control the orientation of their hands. We developed a quaternion-based score that quantifies the geodicity of rotational hand movements and evaluated it experimentally. In the first experiment participants performed a simple orientation-matching task with a robotic manipulator. We found that rotations are generally performed by following a geodesic in the quaternion hypersphere, which suggests that, similarly to translation, the orientation of the hand is centrally controlled. We also established a baseline for the study of human response to perturbed visual feedback of the orientation of the hand. In the subsequent second experiment we studied the adaptation of participants to visuomotor rotation that is applied on the hand's rotation, and the transfer of the adaptation to a different initial orientation. We observed partial adaptation to the perturbation. The patterns of the transfer of the adaptation to a different initial orientation were consistent with the representation of the orientation in extrinsic coordinates. The results of the two experiments raise questions regarding the nature of central control of hand orientation. Discussion and intuitions from these results can be of benefit for many applications that involve fine manipulation of rigid bodies, such as teleoperation and neurorehabilitation.

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“…Robotic neurorehabilitation utilizes motor tasks to induce neural plasticity that will improve motor function and help in recovery from post injury loss of motor abilities [ 72 , 73 ]. For example, a recent study demonstrated the ability to personalize robotic rehabilitation training and monitor motor improvement in reaching by linking it to visuomotor adaptation [ 74 ]. However, there have also been many reports concerning the lack of generalization from such oversimplified movements to activities of daily living [ 75 ].…”

Section: Discussionmentioning

confidence: 99%

Orientation control strategies and adaptation to a visuomotor perturbation in rotational hand movements

Zruya

Nisky

2022

PLoS Comput Biol

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Computational approaches to biological motor control are used to discover the building blocks of human motor behaviour. Models explaining features of human hand movements have been studied thoroughly, yet only a few studies attempted to explain the control of the orientation of the hand; instead, they mainly focus on the control of hand translation, predominantly in a single plane. In this study, we present a new methodology to study the way humans control the orientation of their hands in three dimensions and demonstrate it in two sequential experiments. We developed a quaternion-based score that quantifies the geodicity of rotational hand movements and evaluated it experimentally. In the first experiment, participants performed a simple orientation-matching task with a robotic manipulator. We found that rotations are generally performed by following a geodesic in the quaternion hypersphere, which suggests that, similarly to translation, the orientation of the hand is centrally controlled, possibly by optimizing geometrical properties of the hand’s rotation. This result established a baseline for the study of human response to perturbed visual feedback of the orientation of the hand. In the second experiment, we developed a novel visuomotor rotation task in which the rotation is applied on the hand’s rotation, and studied the adaptation of participants to this rotation, and the transfer of the adaptation to a different initial orientation. We observed partial adaptation to the rotation. The patterns of the transfer of the adaptation to a different initial orientation were consistent with the representation of the orientation in extrinsic coordinates. The methodology that we developed allows for studying the control of a rigid body without reducing the dimensionality of the task. The results of the two experiments open questions for future studies regarding the mechanisms underlying the central control of hand orientation. These results can be of benefit for many applications that involve fine manipulation of rigid bodies, such as teleoperation and neurorehabilitation.

show abstract

Motor improvement estimation and task adaptation for personalized robot-aided therapy: a feasibility study

Cited by 14 publications

References 62 publications

A multimodal approach to capture post-stroke temporal dynamics of recovery

A multimodal approach to capture post-stroke temporal dynamics of recovery

Orientation control strategies and adaptation to a visuomotor perturbation in rotational hand movements

Orientation control strategies and adaptation to a visuomotor perturbation in rotational hand movements

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