Modulation effects of epidural spinal cord stimulation on muscle activities during walking.

Epidural spinal cord stimulation (ESCS) combined with partial weight bearing therapy (PWBT) has been reported to facilitate recovery of functional walking for individuals after chronic incomplete spinal cord injury (ISCI). Muscle activities were analyzed in this report to examine the modulation effect of ESCS on muscle recruitment during gait training. Two ISCI individuals participated in the study and both are classified as ASIA C with low motor scores in the lower limbs. Stimulating electrodes were placed at the epidural space over T10-L2 spinal segments, along the midline in participant 1 (S1), and off-midline in participant 2 (S2). Surface electromyograms (EMGs) from leg muscles under both ESCS ON and OFF conditions recorded during treadmill gait were analyzed in time-frequency domains. ESCS application produced acute modulations in muscle activities in both participants, but the observed pattern, magnitude, and spectral content of the EMGs differed. In S1, ESCS induced a significant shift in the temporal pattern of muscle activity toward normal comparing with that when ESCS was OFF, though without eliciting noticeable change in frequency distribution between ESCS ON and OFF conditions. When ESCS was applied in S2, a modulation of EMG magnitude was observed and, consequently, improved joint kinematics during walking. In this case, a stimulation entrainment appeared in time-frequency analysis. The results suggest that ESCS activates neural structures in the dorsal aspect of the spinal cord and facilitates gait-related muscle recruitment. The exact effects of ESCS depend on the electrode placement and possibly injury history and residual functions, but in general ESCS produces a positive effect on improved walking speed, endurance, and reduced sense of effort in both ISCI subjects.     

Intraspinal microstimulation generates functional movements after spinal-cord injury

Restoring locomotion after spinal-cord injury has been a difficult problem to solve with traditional functional electrical stimulation (FES) systems. Intraspinal microstimulation (ISMS) is a novel approach to FES that takes advantage of spinal-cord locomotor circuits by stimulating in the spinal cord directly. Previous studies in spinal-cord intact cats showed near normal recruitment order, reduced fatigue, and functional, synergistic movements induced by stimulation through a few microwires implanted over a 3-cm region in the lumbosacral cord. The present study sought to test the feasibility of ISMS for restoring locomotion after complete spinal-cord transection. In four adult male cats, the spinal cord was severed at T10, T11, or T12. Two to four weeks later, 30 wires (30 microm, stainless steel) were implanted, under anesthesia, in both sides of the lumbosacral cord. The cats were then decerebrated. Stimulus pulses (40-50 Hz, 200 micros, biphasic) with amplitudes ranging from 1-4x threshold (threshold = 32 +/- 19 microA) were delivered through each unipolar electrode. Kinetics, kinematics, and electromyographic (EMG) measurements were obtained with the cats suspended over a stationary treadmill with embedded force platforms for the hindlimbs. Phasic, interleaved stimulation through electrodes generating flexor or extensor movements produced bilateral weight-bearing stepping of the hindlimbs with ample foot clearance during swing. Minimal changes in kinematics and little fatigue were seen during episodes of 40 consecutive steps. The results indicate that ISMS is a promising technique for restoring locomotion after injury.     

Analysis of sEMG during voluntary movement-part II: voluntary response index sensitivity

In this paper, a method for analyzing surface electromyographic (sEMG) data recorded from the lower-limb muscles of incomplete spinal-cord injured (iSCI) subjects is evaluated. sEMG was recorded bilaterally from quadriceps, adductor, hamstring, tibialis anterior, and triceps surae muscles during voluntary ankle dorsiflexion performed in the supine position as part of a comprehensive motor control assessment protocol. Analysis of the sEMG centered on two features, the magnitude of activation and the degree of similarity [similarity index (SI)] of the sEMG distribution to that of healthy subjects performing the same maneuver (n = 10). The analysis calculations resulted in response vectors (RV) that were compared to healthy-subject-derived prototype response vectors resulting in a voluntary response index (VRI). Incomplete SCI subjects (n = 9) were used to test the sensitivity of this analysis method. They were given supported-weight treadmill ambulation training, which is expected to improve or at least not cause a deterioration of voluntary motor control. The VRI provided evidence that the quantitative sEMG analysis method used was able to differentiate between healthy subjects and those with iSCI, characterize individual differences among iSCI subjects, and track motor control changes occurring over time.     

Restoration of use of paralyzed limb muscles using sensory nerve signals for state control of FES-assisted walking.

A real-time functional electrical stimulation (FES) state controller was designed that utilized sensory nerve cuff signals from the cat forelimb to control the timing of stimulation of the Palmaris Longus (PalL) muscle during walking on the treadmill. Sensory nerve signals from the median and superficial radial nerves provided accurate, reliable feedback related to foot contact and lift-off which, when analyzed with single threshold Schmitt triggers, produced valuable state information about the step cycle. The study involved three experiments: prediction of the timing of muscle activity in an open-loop configuration with no stimulation, prediction of the timing of muscle activity in a closed-loop configuration that included stimulation of the muscle over natural PaIL electromyogram (EMG), and temporary paralysis of selected forelimb muscles coupled with the use of the state controller to stimulate the PalL in order to return partial support function to the anesthetized limb. The FES state controller was tested in a variety of walking conditions, including different treadmill speeds and slopes. The results obtained in these experiments demonstrate that nerve cuff signals can provide a useful source of feedback to FES systems for control of limb function.     

Functional restoration of elbow extension after spinal-cord injury using a neural network-based synergistic FES controller.

Individuals with a C5/C6 spinal-cord injury (SCI) have paralyzed elbow extensors, yet retain weak to strong voluntary control of elbow flexion and some shoulder movements. They lack elbow extension, which is critical during activities of daily living. This research focuses on the functional evaluation of a developed synergistic controller employing remaining voluntary elbow flexor and shoulder electromyography (EMG) to control elbow extension with functional electrical stimulation (FES). Remaining voluntarily controlled upper extremity muscles were used to train an artificial neural network (ANN) to control stimulation of the paralyzed triceps. Surface EMG was collected from SCI subjects while they produced isometric endpoint force vectors of varying magnitude and direction using triceps stimulation levels predicted by a biomechanical model. ANNs were trained with the collected EMG and stimulation levels. We hypothesized that once trained and implemented in real-time, the synergistic controller would provide several functional benefits. We anticipated the synergistic controller would provide a larger range of endpoint force vectors, the ability to grade and maintain forces, the ability to complete a functional overhead reach task, and use less overall stimulation than a constant stimulation scheme.     

Initial on-line evaluations of the LF-ASD brain-computer interface with able-bodied and spinal-cord subjects using imagined voluntary motor potentials

Previous research has focused on developing a brain-controlled switch named the low frequency asynchronous switch design (LF-ASD) that is suitable for intermittent control of devices such as environmental control systems, computers, and neural prostheses. On-line implementations of the LF-ASD have shown promising results in response to actual index finger flexions with able-bodied subjects. This paper reports the results of initial on-line evaluations of the LF-ASD brain-controlled switch with both able-bodied subjects and subjects with high-level spinal-cord injuries. This paper has demonstrated that users can activate the LF-ASD switch by imagining movement. In this paper, two able-bodied subjects were able to control the LF-ASD with imagined voluntary movements with hit (true positive) rates above 70% and false positive rates below 3% while two subjects with high-level spinal-cord injuries demonstrated hit rates ranging from 45-48% and false positive rates below 1%.     

A novel method for automatic treadmill speed adaptation.

Robot-aided treadmill training is an innovative rehabilitation method for patients with locomotor dysfunctions. However, in current rehabilitation systems treadmill speed is restricted to constant values or adjusted by the therapist, whereas self-determined phases of accelerations and decelerations cannot be performed by the patient in an interactive and intuitive way. We present a new approach that allows treadmill walking with intuitive gait speed adaptation. In this approach, the user's trunk position is fixed in walking direction. The horizontal interaction forces applied by the user intending to accelerate or decelerate the gait are measured at the trunk connection and fed to the treadmill controller. The desired gait acceleration is calculated by means of a virtual admittance. Integration yields the desired speed which is fed into the underlying velocity controller of the treadmill. The method was verified by two experimental setups and tested on ten healthy subjects. In one setup, the subject's trunk was rigidly connected by a tether, whereas in the second setup the subject was placed in a robotic gait orthosis. All subjects were able to use both systems immediately and intuitively. The treadmill speed profile during the gait cycle corresponds to that of normal walking. The controller can be extended to simulate different walking conditions, such as slope walking. The method can be used for patient-cooperative control strategies performed with a robotic gait orthosis as well as for any other user-interactive applications in fitness and sports.     

Simulation of a functional neuromuscular stimulation powered mechanical gait orthosis with coordinated joint locking.

The purpose of this study was to examine a hybrid orthosis system (HOS) for walking after spinal-cord injury (SCI) that coordinates the mechanical locking and unlocking of knee and ankle joints of a reciprocating gait orthosis (RGO), while propulsive forces are injected and unlocked joints controlled with functional neuromuscular stimulation (FNS). The likely effectiveness of the HOS in terms of forward progression, stability, and posture of paraplegic gait was determined in this simulation study. A three-dimensional computer model of a HOS combining FNS with an RGO incorporating feedback control of muscle activation and joint locking was developed. An anthropomorphic human model included passive joint moments and a foot-ground contact model adapted from other studies. A model of the RGO reciprocally coupled the hips and locked and unlocked the knee and ankle joints during stance and swing respectively. The actions of muscles under FNS activation were modeled via closed-loop control of joint torque inputs. A walking aid that mimicked canes and voluntary upper extremity actions maintained lateral stability by providing the necessary shoulder forces and moments. The simulated HOS achieved gait speeds of 0.51 +/- 0.03 m/s, stride lengths of 0.85 +/- 0.04 m, and cadences of 72 +/- 4 steps/min, exceeding the reported performance of other assistive gait systems. Although minimal forward trunk tilt was found to be necessary during specific phases of gait, posture, and stability were significantly improved over FNS-only systems.     

The WalkTrainer—A New Generation of Walking Reeducation Device Combining Orthoses and Muscle Stimulation

This paper presents a novel reeducation device for paraplegics that combines hybrid orthoses and closed-loop electrical muscle stimulation. Based on the so called Cyberthosis concept, the WalkTrainer enables an active muscular participation of the subject in the walking reeducation process by the mean of closed-loop muscle stimulation. The WalkTrainer is also equipped with a leg and pelvic orthosis, an active bodyweight support, and motorized wheels to allow true over ground deambulation. This paper will focus on the development of the WalkTrainer, the presentation of the control strategies, and also give some preliminary results of the first clinical trials.      

Impulse partial discharge characteristics and their mechanisms under non-uniform electric field in N/sub 2//SF/sub 6/ gas mixtures

We have investigated impulse partial discharge (PD) and breakdown (BD) characteristics of a needle-plane gap in N/sub 2//SF/sub 6/ gas mixtures under positive lightning impulse voltage application, and discussed their physical mechanisms. The 50% probability PD inception voltage (PDIV/sub 50/), leader discharge onset voltage (LOV) and BD voltage (BDV/sub 50/) were measured and analyzed as a function of gas pressure and SF/sub 6/ content. Experimental results revealed the stepwise propagation process of the impulse PD and enabled us to classify the impulse PD in N/sub 2//SF/sub 6/ gas mixtures into two types, the streamer discharge and the leader discharge. We also discussed the impulse PD propagation mechanisms in terms of PD parameters such as propagation length, time interval and current pulse magnitude, and suggested a sequential relationship in the PD propagation process under non-uniform electric field.     

Impulse partial discharge and breakdown characteristics of rod-plane gaps in N/sub 2//SF/sub 6/ gas mixtures

Impulse partial discharge (PD) and breakdown (BD) characteristics of rod-plane gaps in N/sub 2//SF/sub 6/ gas mixtures were investigated for different gap geometry, gas pressure and SF/sub 6/ gas content. Experimental results revealed that the 50% probability breakdown voltage increased with gas pressure, which agreed with the theoretical values with consideration of discharge time lag for impulse voltage application. For the calculation of discharge inception voltage, the volume-time theory was successfully applied to the N/sub 2//SF/sub 6/ gas mixture. Furthermore, impulse PD light emission image was observed together with PD current pulse and light intensity waveforms. The long discharge with stepwise propagation and double-peak PD pulses could be observed, which corresponded to the streamer/leader transition leading to breakdown.     

BIONic WalkAide for correcting foot drop.

The goal of this study was to test the feasibility and efficacy of using microstimulators (BIONs) to correct foot drop, the first human application of BIONs in functional electrical stimulation (FES). A prototype BIONic foot drop stimulator was developed by modifying a WalkAide2 stimulator to control BION stimulation of the ankle dorsiflexor muscles. BION stimulation was compared with surface stimulation of the common peroneal nerve provided by a normal WalkAide2 foot drop stimulator. Compared to surface stimulation, we found that BION stimulation of the deep peroneal nerve produces a more balanced ankle flexion movement without everting the foot. A three-dimensional motion analysis was performed to measure the ankle and foot kinematics with and without stimulation. Without stimulation, the toe on the affected leg drags across the ground. The BIONic WalkAide elevates the foot such that the toe clears the ground by 3 cm, which is equivalent to the toe clearance in the unaffected leg. The physiological cost index (PCI) was used to measure effort during walking. The PCI is high without stimulation (2.29 +/- 0.37; mean +/- S.D.) and greatly reduced with surface (1.29 +/- 0.10) and BION stimulation (1.46 +/- 0.24). Also, walking speed is increased from 9.4 +/- 0.4 m/min without stimulation to 19.6 +/- 2.0 m/min with surface and 17.8 +/- 0.7 m/min with BION stimulation. We conclude that functional electrical stimulation with BIONs is a practical alternative to surface stimulation and provides more selective control of muscle activation.     

The analysis of ultrasonic signals by partial discharge and noise from the transformer

This paper presents the analysis of ultrasonic signals by the partial discharge in a model transformer as well as by corona in the air at a shielded high-voltage laboratory. In addition, various noises onsite, a 345-kV substation, were measured and analyzed, for example, the vibration by core magnetostriction, cooling pump, cooling fan, onload tap changer (OLTC) operation, OLTC filtering unit operation, and air discharge pulse by corona on the transmission line. Therefore, electrical and mechanical noises onsite were removed using the proper narrow bandpass filter and the noise discrimination algorithm. Also, the developed online ultrasonic detector was applied to detect partial discharge in a 154-kV transformer with a warning level in C/sub 2/H/sub 2/ gas. As a result of an internal inspection, the source of partial discharge was found at the estimated position based on ultrasonic detection and its reliability was verified.     

Postural constraints for two forms of quadrupedal walking

Summary form only given. Quadrupeds exhibit several forms of locomotion. One area of study is the demands made on the nervous system to meet the constraints of different forms. Two forms of walking, forward (FWD) and backward (BWD), in cats trained to walk on a treadmill (0.6 m/s) are discussed. It is shown that the basic muscle synergies are the same for both forms: extensors are active during stance and flexors during swing. Although synergies during the step cycle are similar, the timing and EMG amplitude, as well as the limb kinematics, are form specific. During FWD walking, for example, the hip extended during stance while the hip flexed during BWD stance. Thus, single-joint muscles such as the anterior biceps femoris, active during stance, shorten during FWD stance and lengthen during BWD stance, and feedback from hip joint and myotatic receptors are different even though the motor output is similar. It is postulated that BWD walking is possible only when the quadruped is able to set appropriate posture     

Electrical insulation characteristics of cold dielectric high temperature superconducting cable

For the optimization of electrical insulation design for high temperature superconducting (HTS) cable, evaluation of electrical insulation characteristics especially for butt gap of LN/sub 2/ impregnated cold dielectric (CD) which consists of the wrapped tape insulation impregnated with LN/sub 2/ plays an important role. This paper presents partial discharge (PD) inception and breakdown characteristics in LN/sub 2/ impregnated butt gap model which modeled a weak point of the wrapped tape insulation impregnated with LN/sub 2/ and cable model with short length with polypropylene laminated paper (PPLP/sup /spl reg//), Nomex/sup /spl reg// paper and cellulose paper. PD current pulse was found to have a steep rise time of /spl sim/ ns and amplitude of /spl sim/ tens /spl mu/A at PD inception voltage region. Little dependency of breakdown stress on the insulating material is found. PD inception stress is almost independent of insulation thickness of 1 to 3 mm. The requirement insulation thickness for 66 kV class HTS cable is estimated to be /spl sim/ 5 mm under PD-free condition from viewpoint of long-term reliability.     

ESD-induced oxide breakdown on self-protecting GG-nMOSFET in 0.1-/spl mu/m CMOS technology

Historically, the failure mode of the nMOS/lateral n-p-n (L/sub npn/) bipolar junction transistor (BJT) due to electrostatic discharge (ESD) is source-to-drain filamentation, as the temperature exceeds the melting temperature of silicon. However, as the gate-oxide thickness shrinks, the ESD failure changes over to oxide breakdown. In this paper, transmission line pulse (TLP) testing is combined with measurements of various leakage currents and numerical simulations of the electric field to examine the failure mode of an advanced 0.1-/spl mu/m CMOS technology, which is shown to be through gate-oxide breakdown. It is also shown by I/sub D/-V/sub G/ and I/sub G/-V/sub G/ measurements that the application of nondestructive ESD pulses causes gradual degradation of the oxide well before failure is reached, under the (leakage current) failure criteria used. Finally, the latent effects of stress-induced oxide degradation on the failure current I/sub f/ of the nMOS/L/sub npn/ are studied, and it is shown that as the device ages from an oxide perspective, its ESD protection capabilities decrease.     

PWM逆变器高频脉冲输出对电机的负面效应及其对策

基于传输线理论，讨论了PWM脉冲对过电压的影响。在利用有限元分析法获得电机绕组分布参数值的基础上，得到绕组电压分布不均的根本原因是输入脉冲的dv/dt太大。由于分布电容的存在，定子绕组和轴承形成电压耦合回路，PWM脉冲输入时，电机轴承电流存在dv/dt电流和EDM电流两种基本形式，导致电机轴承过早损坏。文中就此进行了理论和仿真分析，设计了一种滤波器用于抑制过高的电压上升率dv/dt。     

High-performance solar-blind photodetectors based on Al/sub x/Ga/sub 1-x/N heterostructures

Design, fabrication, and characterization of high-performance Al/sub x/Ga/sub 1-x/N-based photodetectors for solar-blind applications are reported. Al/sub x/Ga/sub 1-x/N heterostructures were designed for Schottky, p-i-n, and metal-semiconductor-metal (MSM) photodiodes. The solar-blind photodiode samples were fabricated using a microwave compatible fabrication process. The resulting devices exhibited extremely low dark currents. Below 3fA, leakage currents at 6-V reverse bias were measured on p-i-n samples. The excellent current-voltage (I--V) characteristics led to a detectivity performance of 4.9/spl times/10/sup 14/ cmHz/sup 1/2/W/sup -1/. The MSM devices exhibited photoconductive gain, while Schottky and p-i-n samples displayed 0.09 and 0.11 A/W peak responsivity values at 267 and 261 nm, respectively. A visible rejection of 2/spl times/10/sup 4/ was achieved with Schottky samples. High-speed measurements at 267 nm resulted in fast pulse responses with greater than gigahertz bandwidths. The fastest devices were MSM photodiodes with a maximum 3-dB bandwidth of 5.4 GHz.     

直流电压下GIS内部缺陷检测

在传统脉冲电流法的基础上,设计了直流电压下脉冲电流检测系统。通过施加直流电压和交流电压,对气体绝缘金属封闭开关设备(gas insulated metal enclosed switchgear and controlgear,GIS)内部缺陷的局部放电信号进行检测。直流电压和交流电压下局部放电信号特征对比结果表明,直流电压下局部放电起始电压较交流电压下低,直流检测技术可以高效、准确地检测缺陷局部放电。     

The effects of long-term FES-assisted walking on intrinsic and reflex dynamic stiffness in spastic spinal-cord-injured subjects

The effects of long-term functional electrical stimulation (FES)-assisted walking on ankle dynamic stiffness were examined in spinal cord-injured (SCI) subjects with incomplete motor function loss. A parallel-cascade system identification method was used to identify intrinsic and reflex contributions to dynamic ankle stiffness at different ankle positions while subjects remained relaxed. Intrinsic stiffness dynamics were well modeled by a linear second-order model relating intrinsic torque to joint position. Reflex stiffness dynamics were accurately described by a linear third-order model relating halfwave rectified velocity to reflex torque. We examined four SCI subjects before and after long-term FES-assisted walking (>16 mo). Another SCI subject, who used FES for only five months was examined 12 mo latter to serve as a non-FES, SCI control. Reflex stiffness decreased in FES subjects by an average of 53% following FES-assisted walking, intrinsic stiffness also dropped by 45%. In contrast, both reflex and intrinsic stiffness increased in the non-FES, SCI control. These findings suggest that FES-assisted walking may have therapeutic effects, helping to reduce abnormal joint stiffness.