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期间双腿之间协调的动态模型，并将该模型应用于患有偏瘫（即身体一侧无力）的个人的康复。这种虚弱--由于受伤或中风等神经系统疾病--以及与之相关的行走困难，已成为一个紧迫的公共卫生问题。步态康复迄今为止还不是很成功的主要原因之一是对完整和受损步行者的步态动力学缺乏基本的了解。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，这是行走的基本机制。一种新型的机器人可变刚度跑步机实验将用于模拟轻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，以及机器人步行机。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提供基础。更具体地说，通过可变刚度跑步机，感觉反馈对腿间协调的神经肌肉机制的影响的独特研究将被用作步态感觉运动控制机制的窗口。一个系统动力学和控制方法，机器人干预再训练步态将提高我们的理解的感觉运动过程中所扮演的角色。了解和建模的动力学，支配步态腿间协调的感觉-运动机制，自然会导致引入基于模型的干预措施，用于步态治疗，使用腿间耦合，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的中央机制，并通过对未受损腿部的基于模型的干预，引入了唤起瘫痪腿部活动的概念。腿间协调，步行的基本过程，将被调查和建模为一个多变量的动态系统，在完整的步行者使用独特的感觉运动能力的可变刚度跑步机。然后，将同样的实验方案应用于偏瘫步行者。我们的目标是了解改变动力学和特定的步态机制和路径，在轻偏瘫中断。最后，开发的模型将导致有针对性的基于模型的干预措施对中风幸存者的步态治疗。

项目成果

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
• 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 Model-Based Analysis of Supraspinal Mechanisms of Inter-Leg Coordination in Human Gait: Toward Model-Informed Robot-Assisted Rehabilitation

• DOI: 10.1109/tnsre.2021.3072771
• 发表时间: 2021-01-01
• 期刊: IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
• 影响因子: 4.9
• 作者: Chambers, Vaughn;Artemiadis, Panagiotis
• 通讯作者: Artemiadis, Panagiotis

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
• 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
• 期刊: Journal of Biomechanics
• 影响因子: 2.4
• 作者: Karakasis, Chrysostomos;Artemiadis, Panagiotis
• 通讯作者: Artemiadis, Panagiotis

A Systematic Method for Outlier Detection in Human Gait Data

• DOI: 10.1109/icorr55369.2022.9896411
• 发表时间: 2022-07
• 期刊: 2022 International Conference on Rehabilitation Robotics (ICORR)
• 作者: Bradley Hobbs;P. Artemiadis