Validation of a Robotic Balance System for Investigations in the Control of Human Standing Balance

Luu, Billy L.; Huryn, Thomas P.; Croft, Elizabeth A.; Blouin, Jean‐Sébastien

doi:10.1109/tnsre.2011.2140332

Cited by 28 publications

(26 citation statements)

References 28 publications

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“…1). The system delay between the position command and the actual position of the platform was ∼41.5 ms. A detailed description of the set‐up and design of the motion platform was presented by Luu et al (2011). Briefly, the inverted pendulum was modelled on the physical dimensions of each subject's body.…”

Section: Methodsmentioning

confidence: 99%

“…The pendulum's mass was distributed into three adjoining segments that corresponded to the grouped masses of the subject's head, torso and upper limbs, the pelvis and thighs, and the shanks. A distributed‐mass model was used instead of the conventional concentrated‐mass model (Fitzpatrick et al 1992, 1994; Winter et al 1998; Loram et al 2001) as, for this robotic system, the inertia about the ankles of the distributed mass provided a more accurate representation of the load stiffness of the human body at the sway frequencies experienced during standing (Luu et al 2011). The height of the pendulum's centre of mass from the pivot point of the ankles was matched to the centre of mass measured for each subject's body.…”

Section: Methodsmentioning

confidence: 99%

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Human standing is modified by an unconscious integration of congruent sensory and motor signals

Luu

Inglis

Huryn

et al. 2012

The Journal of Physiology

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Key points• Electrical vestibular stimulation delivered at the mastoid processes evokes a reflex response in the appendicular muscles only when they are actively involved in keeping the unsupported head and body balanced.• We show that the vestibular-evoked muscle response was present during a task that simulated the control of standing where sensory feedback was congruent with the motor-generated expectation to balance the body, and absent when sensory feedback did not match.• The present results indicate that the task dependency of the vestibular-evoked muscle response relies on congruent sensory and motor signals, and that this is organised in the absence of a conscious perception of postural control.• These findings help us understand how our brain combines sensory and motor signals to provide an internal representation of standing balance that can be used to assess whether a perturbation poses a postural threat.Abstract We investigate whether the muscle response evoked by an electrically induced vestibular perturbation during standing is related to congruent sensory and motor signals. A robotic platform that simulated the mechanics of a standing person was used to manipulate the relationship between the action of the calf muscles and the movement of the body. Subjects braced on top of the platform with the ankles sway referenced to its motion were required to balance its simulated body-like load by modulating ankle plantar-flexor torque. Here, afferent signals of body motion were congruent with the motor command to the calf muscles to balance the body. Stochastic vestibular stimulation (±4 mA, 0-25 Hz) applied during this task evoked a biphasic response in both soleus muscles that was similar to the response observed during standing for all subjects. When the body was rotated through the same motion experienced during the balancing task, a small muscle response was observed in only the right soleus and in only half of the subjects. However, the timing and shape of this response did not resemble the vestibular-evoked response obtained during standing. When the balancing task was interspersed with periods of computer-controlled platform rotations that emulated the balancing motion so that subjects thought that they were constantly balancing the platform, coherence between the input vestibular stimulus and soleus electromyogram activity decreased significantly (P < 0.05) during the period when plantar-flexor activity did not affect the motion of the body. in coherence occurred at 175 ms after the transition to computer-controlled motion, which subjects did not detect until after 2247 ms (Confidence Interval 1801, 2693), and then only half of the time. Our results indicate that the response to an electrically induced vestibular perturbation is organised in the absence of conscious perception when sensory feedback is congruent with the underlying motor behaviour.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Human standing is modified by an unconscious integration of congruent sensory and motor signals

Luu

Inglis

Huryn

et al. 2012

The Journal of Physiology

Self Cite

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show abstract

“…The application: the dynamic process of balance restoration after perturbation from the vertical Given a sufficiently small perturbation , the human body has the ability to regain balance, following a complicated path back to the position of quiet vertical stance [19,20]. For vertical balance to be maintain ed, a variety of possible dynamics across different joints and body parts is recruited and a number of motor and sensory pathways contribute to its control [21]. Quiet stance and the maintenance of vertical balance is therefore an important motor function in humans.…”

Section: Obtaining the Basin Of Attraction Of A Dynamica L Systemmentioning

confidence: 99%

“…Although there is a lot of discussion, the integration of several mechanis ms have been proposed, examples being vestibular sensing of head movement and gravitational orientati on, visual sensing of self-movemen t, and propriocept ive sensing of ankle movement [21,28]. Two distinct re-stabilizat ion mechanism s have been introduced, together with their combination: the ''ankle strategy'' and the ''hip strategy'' [23,24,[29][30][31][32][33].…”

Section: Obtaining the Basin Of Attraction Of A Dynamica L Systemmentioning

confidence: 99%

Detecting changes in the basin of attraction of a dynamical system: Application to the postural restoring system

Zakynthinaki

López

Cordente

et al. 2013

Applied Mathematics and Computation

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a b s t r a c tA method that provides a three-dimensional representation of the basin of attraction of a dynamical system from experimen tal data was applied to the problem of dynamic balance restoration. The method is based on the density of the data on the phase space of the system under study and makes use of modeling and numerical curve fitting tools. For the dynamical system of balance restora tion, the shape and the size of the basin of attractio n depend on the dynamics of the postural restoring mechanisms and contain important information regarding the biomechanical, as well as the neuromuscular condition of the individual. The aim of this work was to examine the ability of the method to detect, through the observed changes in the shape and/or the size of the calculated basins of attraction, (a) the inherent differences between different systems (in the current app lication, postural restoring systems of different individuals) and (b) induced chan ges in the same system (the postural restoring system of an individual). The results of the study confirm the validity of the method and furthermore justify its robustness.

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“…Examinations using platforms providing shift or tilt of the platform's base with the measured subject. For monitoring the position of selected body segments [2,3] some more advanced platforms, e.g., the 6DOF2000E (MOOG, East Aurora, NY, USA) are equipped with laser sensors or camera recording systems. These are complex robotic systems with multiple actuators.…”

Section: Introductionmentioning

confidence: 99%

Platform With Camera System for Measurement of Compensatory Movements of Small Animals

Kutílek

Skoda²,

Hybl³

et al. 2017

Acta Polytech

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Abstract. The article introduces systems and methods of a controllable rotational platform used for measuring compensatory movement of small animals. The system, based on a camera subsystem, is located on a mechanical platform powered by a set of three actuators. The subsystems and methods allow to measure angles of the platform's orientation in space and body segment angles in both anatomical and Earth's coordinate systems. The methods of video processing, selection of measurement parameters and detection of anatomical angles are thoroughly described in this article. The study also deals with the software designed in MatLab®, which controls the platform, records and processes videos, and obtains angles for the movement analysis. The system was tested for measuring a head rotation of a small reptile/amphibian and monitored reflective markers on the creature's body by the camera system. This method has never been described before. The new subsystems of the platform and methods for monitoring animal's head compensatory movements can be used in studies of the neural system and its evolution.

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Validation of a Robotic Balance System for Investigations in the Control of Human Standing Balance

Cited by 28 publications

References 28 publications

Human standing is modified by an unconscious integration of congruent sensory and motor signals

Human standing is modified by an unconscious integration of congruent sensory and motor signals

Detecting changes in the basin of attraction of a dynamical system: Application to the postural restoring system

Platform With Camera System for Measurement of Compensatory Movements of Small Animals

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