Randall F. Beer

Abnormal joint torque patterns in the paretic upper limb of subjects with hemiparesis

This study presents the results of a novel paradigm for characterizing abnormal coordination in subjects with hemiparesis. Subjects generated maximum voluntary torques (MVTs) isometrically in four randomly ordered blocks consisting of elbow flexion/extension, shoulder flexion/extension, shoulder abduction/adduction, and shoulder external/internal rotation. A 6–degree‐of‐freedom (DOF) load cell was used to measure torques in secondary DOFs at the elbow and shoulder, as well as in the torque direction the subject was attempting to maximize. This allowed characterization of the multijoint torque patterns associated with the generation of MVTs in the eight directions examined. Significant differences were found between the torque patterns exhibited by the paretic limb of the hemiparetic group (n = 8) and those observed for the nonparetic limb and control group (n = 4). Potential neural and biomechanical mechanisms underlying these abnormal torque patterns are discussed along with implications for the functional use of the paretic limb.

Deficits in the coordination of multijoint arm movements in patients with hemiparesis: evidence for disturbed control of limb dynamics.

Abstract. This study provides a detailed analysis of disturbances in the kinematics and dynamics of the acceleration phase of multijoint arm movements in six patients with chronic hemiparesis. Movements of the dominant and nondominant limbs were also examined in three control subjects. Subjects performed rapid movements from a central starting point to 16 targets located equidistantly around the circumference of a circle. Support of the upper limb was provided by an air-bearing apparatus, which allowed very low friction movements in the horizontal plane. We found that patients retained the capacity to modulate, in response to target direction, the initial direction of movements performed with the paretic limb. However, in comparison to the nonparetic limb or control subjects, movements of the paretic limb were misdirected systematically. An inverse dynamics analysis revealed an abnormal spatial tuning of the muscle torque at the elbow used to initiate movements of the paretic limb. Based on electromyographic recordings, similar spatial abnormalities were also apparent in the initial activations of elbow muscles. We argue that these spatial abnormalities result from a systematic disturbance in the control signal to limb muscles that cannot be attributed to previously identified mechanisms such as weakness, spasticity mediated restraint, or stereotypic muscle activation patterns (muscle synergies). Instead, our analysis of movement dynamics and simulation studies demonstrate that the spatial abnormalities are consistent with an impaired feedforward control of the passive interaction torques which arise during multijoint movements. This impaired control is hypothesized to reflect a degradation of the internal representation of limb dynamics that occurs either as a primary consequence of brain injury or secondary to disuse.

Target-dependent differences between free and constrained arm movements in chronic hemiparesis

This study compares the kinematic and kinetic characteristics of constrained and free upper limb movements in eight subjects with chronic hemiparesis. Movements of the dominant and nondominant limbs were also examined in five control subjects. Rapid movements were performed in the horizontal plane from a central starting point to five targets located to require various combinations of flexion/extension rotations at the elbow and shoulder. Support of the upper limb against gravity loading was provided either by a low-friction air-bearing apparatus (constrained condition) or by voluntary generation of abduction and external rotation torques at the shoulder (free condition). Data analysis focused on the peak joint torques generated during the acceleratory phase of movement, and on the net change in joint angles at the elbow and shoulder. We found that movement parameters were broadly invariant with support condition for either limb of control subjects, as well as for the nonparetic limb of hemiparetic subjects. In contrast, support condition had a target-dependent effect on movements of the paretic limb. Relative to the constrained condition, peak torques for free arm movements were significantly reduced for distal targets requiring elbow extension and/or shoulder flexion torques. However, peak elbow flexion and shoulder extension joint torques for proximal targets were relatively unaffected by support condition. Of perhaps more functional importance, free movements were characterized by a target-dependent restriction in the hand’s work area that reflected a reduced range of active elbow extension, relative to constrained movements. The target-dependent effects of support condition on movements of the paretic limb are consistent with the existence of abnormal constraints on muscle activation patterns in subjects with chronic hemiparesis, namely an abnormal linkage between activation of the elbow flexors and shoulder extensors, abductors, and external rotators.

Task-dependent weakness at the elbow in patients with hemiparesis

OBJECTIVE To investigate the task dependence of elbow weakness in patients with hemiparesis. DESIGN Descriptive study based on interlimb comparisons of maximum voluntary torques (MVTs) generated isometrically in elbow flexion and extension under four task conditions: without explicit control of the torques at adjacent joints and in combination with each of three submaximal shoulder abduction/adduction torque levels. SETTING Rehabilitation center research laboratory. PATIENTS Volunteer samples of six patients with chronic hemiparesis and four controls. MAIN OUTCOME MEASURE Residual strength (RS), defined as the ratio of MVTs for the paretic and nonparetic limbs of patients and nondominant and dominant limbs of controls. RESULTS For the patient group a significant effect of task condition on RS was found (analysis of variance, p = .0003 and p = .002 for elbow flexion and extension, respectively). With increasing shoulder abduction torque level, elbow flexion RS increased and elbow extension RS decreased. In contrast, for the control group, the effect of task condition on RS was not significant. CONCLUSION In hemiparetic patients, weakness of the paretic elbow musculature shows a strong task dependence. This task dependence likely reflects the existence of abnormal synergies between elbow and shoulder muscles of the paretic limb and has important implications for the rehabilitation of motor function following hemiparesis.

Upper-Limb Discoordination in Hemiparetic Stroke: Implications for Neurorehabilitation

Abstract Clinically, upper-limb discoordination after stroke is evident in the form of stereotypic movement patterns that reflect a loss of independent joint control. These movement abnormalities, in conjunction with our recent quantitative findings under isometric conditions, provide evidence for an impaired capacity to generate certain muscle coactivation patterns in the impaired limb. In this article, we examine the parallels that exist between coordination disturbances observed under isometric and movement conditions. Our results suggest that discoordination in stroke may largely represent a manifestation of additional neural constraints on motor outflow. The neurotherapeutic implications of our findings are discussed.

Alterations in upper limb muscle synergy structure in chronic stroke survivors

Previous studies in neurologically intact subjects have shown that motor coordination can be described by task-dependent combinations of a few muscle synergies, defined here as a fixed pattern of activation across a set of muscles. Arm function in severely impaired stroke survivors is characterized by stereotypical postural and movement patterns involving the shoulder and elbow. Accordingly, we hypothesized that muscle synergy composition is altered in severely impaired stroke survivors. Using an isometric force matching protocol, we examined the spatial activation patterns of elbow and shoulder muscles in the affected arm of 10 stroke survivors (Fugl-Meyer <25/66) and in both arms of six age-matched controls. Underlying muscle synergies were identified using non-negative matrix factorization. In both groups, muscle activation patterns could be reconstructed by combinations of a few muscle synergies (typically 4). We did not find abnormal coupling of shoulder and elbow muscles within individual muscle synergies. In stroke survivors, as in controls, two of the synergies were comprised of isolated activation of the elbow flexors and extensors. However, muscle synergies involving proximal muscles exhibited consistent alterations following stroke. Unlike controls, the anterior deltoid was coactivated with medial and posterior deltoids within the shoulder abductor/extensor synergy and the shoulder adductor/flexor synergy in stroke was dominated by activation of pectoralis major, with limited anterior deltoid activation. Recruitment of the altered shoulder muscle synergies was strongly associated with abnormal task performance. Overall, our results suggest that an impaired control of the individual deltoid heads may contribute to poststroke deficits in arm function.

Modifiability of abnormal isometric elbow and shoulder joint torque coupling after stroke.

Unlike individuals with mild stroke, individuals with severe stroke are constrained to stereotypical movement patterns attributed to abnormal coupling of shoulder abductors with elbow flexors, and shoulder adductors with elbow extensors. Whether abnormal muscle coactivation and associated joint torque patterns can be changed in this population is important to determine given that it bears on the development of effective rehabilitation interventions. Eight subjects participated in a protocol that was designed to reduce abnormal elbow/shoulder joint torque coupling by training them to generate combinations of isometric elbow and shoulder joint torques away from the constraining patterns. After training, subjects demonstrated a significant reduction in abnormal torque coupling and a subsequent significant increase in ability to generate torque patterns away from the abnormal pattern. We suggest the rapid time‐course of these changes reflects a residual capacity of the central nervous system to adapt to a novel behavioral training environment. Muscle Nerve, 2005

Impact of gravity loading on post-stroke reaching and its relationship to weakness.

The ability to extend the elbow following stroke depends on the magnitude and direction of torques acting at the shoulder. The mechanisms underlying this link remain unclear. The purpose of this study was to evaluate whether the effects of shoulder loading on elbow function were related to weakness or its distribution in the paretic limb. Ten subjects with longstanding hemiparesis performed movements with the arm either passively supported against gravity by an air bearing, or by activation of shoulder muscles. Isometric maximum voluntary torques at the elbow and shoulder were measured using a load cell. The speed and range of elbow extension movements were negatively impacted by actively supporting the paretic limb against gravity. However, the effects of gravity loading were not related to proximal weakness or abnormalities in the elbow flexor–extensor strength balance. The findings support the existence of abnormal descending motor commands that constrain the ability of stroke survivors to generate elbow extension torque in combination with abduction torque at the shoulder. Muscle Nerve, 2007

Development of the MACARM - a novel cable robot for upper limb neurorehabilitation

This paper describes the design and operation of the multi-axis cartesian-based arm rehabilitation machine (MACARM), a new cable (wire) robot for upper limb rehabilitation. The prototype configuration is comprised of an array of 8 motors mounted at the corners of a cubic support frame that provides, via cables, 6 degree of freedom (DOF) control of a centrally located end-effector. A 6 DOF load cell mounted on the end-effector provides force measurement. Given its relatively simple architecture, the MACARM may provide an attractive alternative to serial robots for use in neurorehabilitation.

Robustness of muscle synergies underlying three-dimensional force generation at the hand in healthy humans

Previous studies using advanced matrix factorization techniques have shown that the coordination of human voluntary limb movements may be accomplished using combinations of a small number of intermuscular coordination patterns, or muscle synergies. However, the potential use of muscle synergies for isometric force generation has been evaluated mostly using correlational methods. The results of such studies suggest that fixed relationships between the activations of pairs of muscles are relatively rare. There is also emerging evidence that the nervous system uses independent strategies to control movement and force generation, which suggests that one cannot conclude a priori that isometric force generation is accomplished by combining muscle synergies, as shown in movement control. In this study, we used non-negative matrix factorization to evaluate the ability of a few muscle synergies to reconstruct the activation patterns of human arm muscles underlying the generation of three-dimensional (3-D) isometric forces at the hand. Surface electromyographic (EMG) data were recorded from eight key elbow and shoulder muscles during 3-D force target-matching protocols performed across a range of load levels and hand positions. Four synergies were sufficient to explain, on average, 95% of the variance in EMG datasets. Furthermore, we found that muscle synergy composition was conserved across biomechanical task conditions, experimental protocols, and subjects. Our findings are consistent with the view that the nervous system can generate isometric forces by assembling a combination of a small number of muscle synergies, differentially weighted according to task constraints.