Bart F.J.M. Koopman

A multisensory integration model of human stance control.

Abstract. A model is presented to study and quantify the contribution of all available sensory information to human standing based on optimal estimation theory. In the model, delayed sensory information is integrated in such a way that a best estimate of body orientation is obtained. The model approach agrees with the present theory of the goal of human balance control. The model is not based on purely inverted pendulum body dynamics, but rather on a three-link segment model of a standing human on a movable support base. In addition, the model is non-linear and explicitly addresses the problem of multisensory integration and neural time delays. A predictive element is included in the controller to compensate for time delays, necessary to maintain erect body orientation. Model results of sensory perturbations on total body sway closely resemble experimental results. Despite internal and external perturbations, the controller is able to stabilise the model of an inherently unstable standing human with neural time delays of 100 ms. It is concluded, that the model is capable of studying and quantifying multisensory integration in human stance control. We aim to apply the model in (1) the design and development of prostheses and orthoses and (2) the diagnosis of neurological balance disorders.

The Effect of Tyre and Rider Properties on the Stability of a Bicycle

To work towards an advanced model of the bicycle-rider-environment system, an open-loop bicycle-rider model was developed in the commercial multibody dynamics software ADAMS. The main contribution of this article to bicycle dynamics is the analysis of tyre and rider properties that influence bicycle stability. A system identification method is used to extract linear stability properties from time domain analysis. The weave and capsize eigenmodes of the bicycle-rider system are analysed. The effect of tyre properties is studied using the tyre’s forces and torques that have been measured in several operating conditions. The main result is that extending simplified models with a realistic tyre model leads to a notable decrease in the weave stability and a stabilization of the capsize mode. This effect is mainly caused by the twisting torque. Different tyres and tyre inflation pressures have little effect on the bicycle’s stability, in the case of riding straight at a constant forward speed. On the other hand, the tyre load does have a large effect on bicycle stability. The sensitivity study of rider properties shows that body stiffness and damping have a small effect on the weave and capsize mode, whereas arm stiffness destabilizes the capsize mode and arm damping destabilizes the weave mode.

An adaptive model of sensory integration in a dynamic environment applied to human stance control

Abstract. An adaptive estimator model of human spatial orientation is presented. The adaptive model dynamically weights sensory error signals. More specific, the model weights the difference between expected and actual sensory signals as a function of environmental conditions. The model does not require any changes in model parameters. Differences with existing models of spatial orientation are that: (1) environmental conditions are not specified but estimated, (2) the sensor noise characteristics are the only parameters supplied by the model designer, (3) history-dependent effects and mental resources can be modelled, and (4) vestibular thresholds are not included in the model; instead vestibular-related threshold effects are predicted by the model. The model was applied to human stance control and evaluated with results of a visually induced sway experiment. From these experiments it is known that the amplitude of visually induced sway reaches a saturation level as the stimulus level increases. This saturation level is higher when the support base is sway referenced. For subjects experiencing vestibular loss, these saturation effects do not occur. Unknown sensory noise characteristics were found by matching model predictions with these experimental results. Using only five model parameters, far more than five data points were successfully predicted. Model predictions showed that both the saturation levels are vestibular related since removal of the vestibular organs in the model removed the saturation effects, as was also shown in the experiments. It seems that the nature of these vestibular-related threshold effects is not physical, since in the model no threshold is included. The model results suggest that vestibular-related thresholds are the result of the processing of noisy sensory and motor output signals. Model analysis suggests that, especially for slow and small movements, the environment postural orientation can not be estimated optimally, which causes sensory illusions. The model also confirms the experimental finding that postural orientation is history dependent and can be shaped by instruction or mental knowledge. In addition the model predicts that: (1) vestibular-loss patients cannot handle sensory conflicting situations and will fall down, (2) during sinusoidal support-base translations vestibular function is needed to prevent falling, (3) loss of somatosensory information from the feet results in larger postural sway for sinusoidal support-base translations, and (4) loss of vestibular function results in falling for large support-base rotations with the eyes closed. These predictions are in agreement with experimental results.

An inverse dynamics model for the analysis, reconstruction and prediction of bipedal walking

Walking is a constrained movement which may best be observed during the double stance phase when both feet contact the floor. When analyzing a measured movement with an inverse dynamics model, a violation of these constraints will always occur due to measuring errors and deviations of the segments model from reality, leading to inconsistent results. Consistency is obtained by implementing the constraints into the model. This makes it possible to combine the inverse dynamics model with optimization techniques in order to predict walking patterns or to reconstruct non-measured rotations when only a part of the three-dimensional joint rotations is measured. In this paper the outlines of the extended inverse dynamics method are presented, the constraints which define walking are defined and the optimization procedure is described. The model is applied to analyze a normal walking pattern of which only the hip, knee and ankle flexions/extensions are measured. This input movement is reconstructed to a kinematically and dynamically consistent three-dimensional movement, and the joint forces (including the ground reaction forces) and joint moments of force, needed to bring about this movement are estimated.

The relative position of EDL muscle affects the length of sarcomeres within muscle fibers: experimental results and finite-element modeling.

BACKGROUND Effects of extramuscular connective tissues on muscle force (experimentally measured) and lengths of sarcomeres (modeled) were investigated in rat. It was hypothesized that changes of muscle-relative position affect the distribution of lengths of sarcomeres within muscle fibers. METHOD OF APPROACH The position of extensor digitorum longus muscle (EDL) relative to intact extramuscular connective tissues of the anterior crural compartment was manipulated without changing its muscle-tendon complex length. RESULTS Significant effects of EDL muscle relative position on proximal and distal EDL forces were found, indicating changes of extramuscular myofascial force transmission. EDL isometric force exerted at its proximal and distal tendons differed significantly. Finite-element modeling showed that the distribution of lengths of sarcomeres is altered by changes of muscle-relative position. CONCLUSIONS It is concluded that forces exerted on a muscle via extramuscular myofascial pathways augment distributions of lengths of sarcomeres within that muscle.

Finite element model of intramuscular pressure during isometric contraction of skeletal muscle

The measurement of in vivo intramuscular pressure (IMP) has recently become practical and IMP appears well correlated with muscle tension. A numerical model of skeletal muscle was developed to examine the mechanisms producing IMP. Unipennate muscle is modelled as a two-dimensional material continuum that is incompressible and nonlinearly anisotropic. The finite element technique is used to calculate IMP and muscle stress during passive stretch and during isometric contraction. A novel element models the contractile portion of muscle, incorporating sarcomere length-force and velocity-force relations. A range of unipennate muscle geometries can be modelled. The model was configured to simulate the rabbit tibialis anterior muscle over a range of lengths. Simulated IMP and stress results were validated against animal experimentation data. The simulation agreed well with the experimental data over the range of 0.8-1.1 of the optimal length. Severe pressure gradients were produced near the musculo-tendinous junctions while IMP was more uniform in the central muscle belly. IMP and muscle stress in relaxed (unstimulated) muscle increased nonlinearly with muscle length. IMP and stress in isometrically contracting muscle showed a local maximum at optimal length and were reduced at shorter lengths. At muscle lengths longer than optimal, stress and IMP increased predominately due to tension in the passive elastic structures.

Pre-Strained Epimuscular Connections Cause Muscular Myofascial Force Transmission to Affect Properties of Synergistic EHL and EDL Muscles of the Rat

BACKGROUND Myofascial force transmission occurs between muscles (intermuscular myofascial force transmission) and from muscles to surrounding nonmuscular structures such as neurovascular tracts and bone (extramuscular myofascial force transmission). The purpose was to investigate the mechanical role of the epimuscular connections (the integral system of inter- and extramuscular connections) as well as the isolated role of extramuscular connections on myofascial force transmission and to test the hypothesis, if such connections are prestrained. METHOD OF APPROACH Length-force characteristics of extensor hallucis longus (EHL) muscle of the rat were measured in two conditions: (I) with the neighboring EDL muscle and epimuscular connections of the muscles intact: EDL was kept at a constant muscle tendon complex length. (II) After removing EDL, leaving EHL with intact extramuscular connections exclusively. RESULTS (I) Epimuscular connections of the tested muscles proved to be prestrained significantly. (1) Passive EHL force was nonzero for all isometric EHL lengths including very low lengths, increasing with length to approximately 13% of optimum force at high length. (2) Significant proximodistal EDL force differences were found at all EHL lengths: Initially, proximal EDL force = 1.18 +/- 0.11 N, where as distal EDL force = 1.50 +/- 0.08 N (mean +/- SE). EHL lengthening decreased the proximo-distal EDL force difference significantly (by 18.4%) but the dominance of EDL distal force remained. This shows that EHL lengthening reduces the prestrain on epimuscular connections via intermuscular connections; however; the prestrain on the extramuscular connections of EDL remains effective. (II) Removing EDL muscle affected EHL forces significantly. (1) Passive EHL forces decreased at all muscle lengths by approximately 17%. However, EHL passive force was still non-zero for the entire isometric EHL length range, indicating pre-strain of extramuscular connections of EHL. This indicates that a substantial part of the effects originates solely from the extramuscular connections of EHL. However, a role for intermuscular connections between EHL and EDL, when present, cannot be excluded. (2) Total EHL forces included significant shape changes in the length-force curve (e.g., optimal EHL force decreased significantly by 6%) showing that due to myofascial force transmission muscle length-force characteristics are not specific properties of individual muscles. CONCLUSIONS The pre-strain in the epimuscular connections of EDL and EHL indicate that these myofascial pathways are sufficiently stiff to transmit force even after small changes in relative position of a muscle with respect to its neighboring muscular and nonmuscular tissues. This suggests the likelihood of such effects also in vivo.

Non-invasive control interfaces for intention detection in active movement-assistive devices

AbstractActive movement-assistive devices aim to increase the quality of life for patients with neuromusculoskeletal disorders. This technology requires interaction between the user and the device through a control interface that detects the user’s movement intention. Researchers have explored a wide variety of invasive and non-invasive control interfaces. To summarize the wide spectrum of strategies, this paper presents a comprehensive review focused on non-invasive control interfaces used to operate active movement-assistive devices. A novel systematic classification method is proposed to categorize the control interfaces based on: (I) the source of the physiological signal, (II) the physiological phenomena responsible for generating the signal, and (III) the sensors used to measure the physiological signal. The proposed classification method can successfully categorize all the existing control interfaces providing a comprehensive overview of the state of the art. Each sensing modality is briefly described in the body of the paper following the same structure used in the classification method. Furthermore, we discuss several design considerations, challenges, and future directions of non-invasive control interfaces for active movement-assistive devices.

An alternative approach to synthesizing bipedal walking

Abstract. Based on mechanical analysis, three gait descriptors are found which should be controlled to generate cyclic gait of a seven-link humanoid biped in the sagittal plane: (i) step length, (ii) step time, and (iii) the velocity of the center of mass (CoM) at push off. Two of these three gait descriptors can be chosen independently, since the CoM moves almost ballistically during the swing phase. These gait descriptors are formulated as end-point conditions and are regulated by a model predictive controller. In addition, continuous controls at the trunk and knees are implemented to maintain the trunk upright and to ensure weight bearing. The model predictive controller is realized by quadratic dynamic matrix control, which offers the possibility of including constraints that are exposed by the environment and the biped itself. Specifying step length and CoM velocity at push off, the controller generates a symmetric and stable gait. The proposed control scheme serves as a general-purpose solution for the generation of a bipedal gait. The proposed model contains fewer parameters than other models, and they are all directly related to determinants of bipedal gait: step length, trunk orientation, step time, walking velocity, and weight bearing. The proposed control objectives and the model of humanoid bipedal walking have potential applications in robotics and rehabilitation engineering.

Effects of sagittal postural adjustments on seat reaction load

Wheelchair-dependent subjects often adopt a passive sitting posture and suffer from sitting acquired pressure ulcers (PU) that mainly occur when high buttock pressures sustain for a longer period of time. Body posture directly influences seating load and proper postural change is therefore essential. Many subjects cannot reposition themselves and seating systems that adjust sitting posture can regulate seating load and potentially diminish the risk to develop PU. We describe a mechanism for postural adjustments and investigated the influence of seat inclination (1), pelvis rotation (2) and chair recline (3) on buttock load. We developed an experimental simulator chair containing the concept to adjust body posture in the sagittal plane. Measurements involved quasi-static actuated chair movements in which chair configuration, buttock interface pressure and seating forces were simultaneously measured. Significant effects with high coefficients of determination (r(2)>0.8) were found for seating force, centre of pressure and sacral load. We conclude that a combination of independent pelvis rotation and seat inclination is effective to regulate the net buttock shear force and the sacral interface pressure in healthy subjects. Whether both techniques are also applicable in subjects without postural stability is still to be evaluated.