Charles G. Burgar

MIME robotic device for upper-limb neurorehabilitation in subacute stroke subjects: A follow-up study

This study presents results from a randomized controlled clinical trial of the Mirror Image Movement Enabler (MIME) robotic device for shoulder and elbow neurorehabilitation in subacute stroke patients, including data on the use of its bilateral training mode. MIME incorporates a PUMA 560 robot (Staubli Unimation Inc, Duncan, South Carolina) that applies forces to the paretic limb during unilateral and bilateral movements in three dimensions. Robot-assisted treatment (bilateral, unilateral, and combined bilateral and unilateral) was compared with conventional therapy. Similar to a previous study in chronic stroke, combined unilateral and bilateral robotic training had advantages compared with conventional therapy, producing larger improvements on a motor impairment scale and a measure of abnormal synergies. However, gains in all treatment groups were equivalent at the 6-month follow-up. Combined unilateral and bilateral training yielded functional gains that were similar to the gains from equivalent doses of unilateral-only robotic training, although the combined group had more hypertonia and less movement out of synergy at baseline. Robot-assisted treatment gains exceeded those expected from spontaneous recovery. These results are discussed in light of the need for further device development and continued clinical trials.

LARGE INDEX-FINGERTIP FORCES ARE PRODUCED BY SUBJECT-INDEPENDENT PATTERNS OF MUSCLE EXCITATION

Are fingertip forces produced by subject-independent patterns of muscle excitation? If so, understanding the mechanical basis underlying these muscle coordination strategies would greatly assist surgeons in evaluating options for restoring grasping. With the finger in neutral ad- abduction and flexed 45 degrees at the MCP and PIP, and 10 degrees at DIP joints, eight subjects attempted to produce maximal voluntary forces in four orthogonal directions perpendicular to the distal phalanx (palmar, dorsal, lateral and medial) and in one direction collinear with it (distal). Forces were directed within 4.7 +/- 2.2 degrees (mean +/- S.D.) of target and their magnitudes clustered into three distinct levels (p < 0.05; post hoc pairwise RMANOVA). Palmar (27.9 +/- 4.1 N), distal (24.3 +/- 8.3 N) and medial (22.9 +/- 7.8 N) forces were highest, lateral (14.7 +/- 4.8 N) was intermediate, and dorsal (7.5 +/- 1.5 N) was lowest. Normalized fine-wire EMGs from all seven muscles revealed distinct muscle excitation groups for palmar, dorsal and distal forces (p < 0.05; post hoc pairwise RMANOVA). Palmar force used flexors, extensors and dorsal interosseous; dorsal force used all muscles; distal force used all muscles except for extensors; medial and lateral forces used all muscles including significant co-excitation of interossei. The excitation strategies predicted to achieve maximal force by a 3-D computer model (four pinjoints, inextensible tendons, extensor mechanism and isometric force models for all seven muscles) reproduced the observed use of extensors and absence of palmar interosseous to produce palmar force (to regulate net joint flexion torques), the absence of extensors for distal force, and the use of intrinsics (strong MCP flexors) for dorsal force. The model could not predict the interossei co-excitation seen for medial and lateral forces, which may be a strategy to prevent MCP joint damage. The model predicts distal force to be most sensitive to dorsal interosseous strength, and palmar and distal forces to be very sensitive to MCP and PIP flexor moment arms, and dorsal force to be sensitive to the moment arm of and the tension allocation to the PIP extensor tendon of the extensor mechanism.

Evidence for improved muscle activation patterns after retraining of reaching movements with the MIME robotic system in subjects with post-stroke hemiparesis

Previously, we reported that chronic stroke subjects had significant improvements in isometric strength, free reaching extent, and clinical evaluations of function after training in the mirror-image movement enabler (MIME) robotic device. Our primary goal in this analysis was to investigate the hypothesis that the robotic training promoted improved muscle activation patterns. To this end, we examined the interaction forces, kinematics, and electromyograms recorded during training of eight different movement patterns in active-constrained mode. In this mode, the robot constrained the reaching movements to be toward the target, and the movement velocity was proportional to the force produced along the trajectory. Thirteen chronic stroke subjects trained in MIME for 24 1-h sessions over an eight-week period. Work output was significantly increased by week five in all eight movement patterns. Low-level subjects increased their extent of reach, while high-level subjects increased their speed. Directional errors in force production were reduced in six of eight movement patterns. Electromyographic data provided evidence for improved muscle activation patterns in the four movement patterns that started at tabletop level and ended at shoulder level. In contrast, there was no evidence of improved muscle activation patterns in any of the tabletop movements, with increased activation of antagonists in two movement patterns. This dichotomy may have been related to compensation at the shoulder girdle during movements that remained at tabletop level. A simple biomechanical model will be introduced to demonstrate the likelihood of this possibility.

Quantification of force abnormalities during passive and active-assisted upper-limb reaching movements in post-stroke hemiparesis

The authors evaluated a method for measuring abnormal upper-limb motor performance in post-stroke hemiparetic subjects. A servomechanism (MIME) moved the forearm in simple planar trajectories, directly controlling hand position and forearm orientation. Design specifications are presented, along with system performance data during an initial test of 13 stroke subjects with a wide range of impairment levels. Performance of subjects was quantified by measuring the forces and torques between the paretic limb and the servomechanism as the subjects relaxed (passive), or attempted to generate force in the direction of movement (active). During passive movements, the more severely impaired subjects resisted movement, producing higher levels of negative work than less-impaired subjects and neurologically normal controls. During active movements, the more severely impaired subjects produced forces with larger directional errors, and were less efficient in producing work. These metrics had significant test-retest repeatability. These motor performance metrics can potentially detect smaller within-subject changes than motor function scales. This method could complement currently used measurement tools for the evaluation of subjects during recovery from stroke, or during therapeutic interventions.

EVIDENCE FOR STRENGTH IMBALANCES AS A SIGNIFICANT CONTRIBUTOR TO ABNORMAL SYNERGIES IN HEMIPARETIC SUBJECTS

Abnormal synergies in the paretic shoulder and elbow of hemiparetic subjects were quantified during maximal voluntary contractions (MVCs) in 27 subjects with a history of stroke and 8 age‐matched control subjects. A six‐axis load cell allowed simultaneous measurement of the primary torque the subject was attempting to maximize and the secondary torques at other joint actions. For example, during MVC of shoulder flexion, shoulder flexion is the primary torque and the secondary torques are internal/external rotation, abduction/adduction, and elbow flexion/extension. In general, the stroke subjects had increased secondary torques compared to controls, resulting in abnormal joint torque coupling within the set consisting of elbow flexion, internal rotation, adduction, shoulder flexion. Unlike previous studies, abnormal secondary torques in several cases were due to strength imbalances, which occur when the strength deficit for a particular joint action is greater than the strength deficit in the opposite joint action. This hypothesis was supported by electromyographic recordings and by the finding that subjects with larger strength imbalances tended to produce larger secondary torques. Possible mechanisms and consequences for rehabilitative treatments are discussed. Muscle Nerve 27: 211–221, 2003

Robot-Assisted Upper-Limb Therapy in Acute Rehabilitation Setting Following Stroke: Department of Veterans Affairs Multisite Clinical Trial

This randomized, controlled, multisite Department of Veterans Affairs clinical trial assessed robot-assisted (RA) upper-limb therapy with the Mirror Image Movement Enabler (MIME) in the acute stroke rehabilitation setting. Hemiparetic subjects (n = 54) received RA therapy using MIME for either up to 15 hours (low-dose) or 30 hours (high-dose) or received up to 15 hours of additional conventional therapy in addition to usual care (control). The primary outcome measure was the Fugl-Meyer Assessment (FMA). The secondary outcome measures were the Functional Independence Measure (FIM), Wolf Motor Function Test, Motor Power, and Ashworth scores at intake, discharge, and 6-month follow-up. Mean duration of study treatment was 8.6, 15.8, and 9.4 hours for the low-dose, high-dose, and control groups, respectively. Gains in the primary outcome measure were not significantly different between groups at follow-up. Significant correlations were found at discharge between FMA gains and the dose and intensity of RA. Intensity also correlated with FMA gain at 6 months. The high-dose group had greater FIM gains than controls at discharge and greater tone but no difference in FIM changes compared with low-dose subjects at 6 months. As used during acute rehabilitation, motor-control changes at follow-up were no less with MIME than with additional conventional therapy. Intensity of training with MIME was positively correlated with motor-control gains.

Anatomical and electrophysiological determinants of the human thenar compound muscle action potential

Clinical interpretation of the compound muscle action potential (CMAP) requires a precise understanding of its underlying mechanisms. We recorded normal thenar CMAPs and motor unit action potentials using different electrode configurations and different thumb positions. Computer simulations show that the CMAP has four parts: rising edge, negative phase, positive phase, and tail, which correspond to four distinct stages of electrical activity in the muscle: initiation at the end‐plate, propagation, termination at the muscle/tendon junctions, and slow repolarization. The shapes of volume‐conducted signals recorded beyond the muscle are also explained by these four stages. Changes in CMAP shape associated with thumb abduction are due to changes in termination times resulting from changes in muscle‐fiber lengths. These findings demonstrate that the negative and positive phases of the CMAP are due to different mechanisms, and that anatomical factors, particularly muscle‐fiber lengths, play an important role in determining CMAP shape.

The MIME robotic system for upper-limb neuro-rehabilitation: results from a clinical trial in subacute stroke

Results from a randomized, controlled clinical trial of the MIME robotic device for shoulder and elbow neuro-rehabilitation in subacute stroke patients are presented. MIME incorporates a PUMA 560 robot that applies forces to the paretic limb during unilateral and bilateral 3-dimensional movements. The training dose was 15 1-hour sessions within a 4-week period. Analysis of clinical data found the MIME training at least as effective as an equivalent dose of hands-on therapy by a therapist. The MIME training provided added-value by increasing the rate of recovery on some motor impairment scales. Combined unilateral and bilateral training yielded similar functional outcomes compared to equivalent doses of unilateral-only robot training, but with reduced hypertonia and abnormal synergies. Robot group gains exceeded that expected from spontaneous recovery.

Fine-wire electromyographic recording during force generation. Application to index finger kinesiologic studies.

When accurately placed, fine-wire electrodes (FWEs) permit selective electromyographic recording during kinesiologic studies; however, their potential to limit contraction of the index finger muscles has not previously been evaluated. Given that these electrodes cannot be reinserted, reliable techniques are necessary to achieve proper placement while minimizing subject discomfort and electrode waste. The small size, close arrangement, and anatomic variability of hand and forearm muscles create challenges to achieving these goals. In this study, we simultaneously measured maximal fingertip forces and fine-wire electromyographic signals from all seven muscles of the index finger. Forces in five directions, with and without FWEs in place, were not statistically different (repeated-measures analysis of variance, P < 0.46) in five healthy adult subjects. To guide electrode placement, we identified skin penetration landmarks, direction of needle advancement, and depth of muscle fibers. Fibers of flexor digitorum superficialis and flexor digitorum profundus to the index finger were more distal than depicted in textbooks, requiring electrode placement at or distal to the midpoint of the forearm. For these muscles and the extensor digitorum, locating the desired fibers first with a monopolar needle electrode facilitated subsequent FWE placement. For the dorsal and palmar interossei, lumbrical, and extensor indicis proprius, insertion was aided by concurrent monitoring of the electromyographic signals. We achieved a 93% success rate during FWE placement in a total of 60 muscles. Techniques for recording from each of the seven index finger muscles are described.

Use of the MIME robotic system to retrain multijoint reaching in post-stroke hemiparesis: why some movement patterns work better than others

Previously, we reported that the MIME robotic device for post-stroke neuro-rehabilitation has quantifiable clinical benefits. To identify which aspects of the robotic training were most effective, we examined the relative effectiveness of eight different shoulder-elbow reaching movements. Thirteen chronic stroke subjects trained in MIME for 24 one-hour sessions. In each session, all eight movement patterns were trained, with the robot constraining the movements to be toward the target. The movement velocity was proportional to the force produced along the trajectory. After training, subjects had significant gains in the work produced in all movement patterns. Electromyographic data provided evidence for improved muscle activation patterns in the four movement patterns that started at tabletop level and ended at shoulder level. In contrast, there was no evidence of improved muscle activation patterns in any of the tabletop movements, with increased activation of antagonists in two tabletop patterns. We hypothesize that compensation with shoulder girdle movement limited the effectiveness of the tabletop movements in promoting neuro-rehabilitation. We conclude that effective robotic treatment depends critically upon using movement patterns and modes of assistance that limit the effectiveness of compensation and require activation of the target muscle groups.