Strength and coordination in the paretic leg of individuals following acute stroke.

The goal of this study was to determine whether acute stroke survivors demonstrate abnormal synergy patterns in their affected lower extremity. During maximum isometric contractions with subjects in a standing position, joint torques generated simultaneously at the knee and hip were measured, along with associated muscle activation patterns in eight lower limb muscles. Ten acute stroke survivors and nine age-match controls participated in the study. For all joints tested, stroke subjects demonstrated significantly less maximum isometric torque than age-matched control subjects. However, the synergistic torques generated in directions different than the direction that was being maximized were not significantly different between the two groups. According to electromyography (EMG) data, it was found that stroke subjects activated antagonistic muscle groups significantly higher than the control group subjects, suggesting that deficits in joint torque may be at least partially attributable to co-contraction of antagonistic muscles. Our findings suggest that a primary contributor to lower limb motor impairment in acute hemiparetic stroke is poor volitional torque generating capacity, which is at least partially attributable to co-contraction of antagonistic muscles. Furthermore, while we did not observe abnormal torque synergy patterns commonly found in the upper limbs, muscle activation patterns differed between groups for many of the directions tested indicating changes in the motor control strategies of acute stroke survivors.     

Why is the Metabolic Efficiency of FES Cycling Low?

The potential benefits of functional electrically stimulated (FES) cycling for people with spinal cord injury (SCI) are limited by the power output (PO) attainable. To understand why PO and metabolic efficiency are low, it is helpful to distinguish the effect of the SCI from the effects of electrical stimulation. The purpose of this study was to determine the performance of electrically stimulated (ES) muscle under simpler conditions and in able-bodied people in order to answer two questions about the causes of the poor efficiency in FES cycling. Fifteen able-bodied subjects (26.6 years, six male) performed 5 min of intermittent isometric quadriceps contractions at 40% maximum voluntary contraction during both voluntary and ES activation. Subsequently, nine of them performed 5 min of ES intermittent concentric contractions at the same intensity. This intermittent quadriceps activation imitated the muscles' activity during FES cycling at 35 rpm. Metabolic measurements were recorded. Input power relative to the integral of torque produced ( ${rm W}/{rm Nm}cdot {rm s}$) was significantly higher during ES than voluntary isometric contractions. Efficiency of ES concentric contractions was $29.6 pm 2.9%$. Respiratory exchange ratio was high during ES (1.00-1.01) compared with voluntary (0.91) contractions. ES is less economic than voluntary exercise during isometric contractions, probably due to the greater activation of fast muscle fibres. However, during ES concentric contractions, efficiency is near to the expected values for the velocity chosen. Thus there are additional factors that affect the inefficiency observed during FES cycling.      

Changes in the surface EMG signal and the biomechanics of motion during a repetitive lifting task

The analysis of surface electromyographic (EMG) data recorded from the muscles of the back during isometric constant-force contractions has been a useful tool for assessing muscle deficits in patients with lower back pain (LBP). Until recently, extending the technique to dynamic tasks, such as lifting, has not been possible due to the nonstationarity of the EMG signals. Recent developments in time-frequency analysis procedures to compute the instantaneous median frequency (IMDF) were utilized in this study to overcome these limitations. Healthy control subjects with no history of LBP (n=9; mean age 26.3/spl plusmn/6.7) were instrumented for acquisition of surface EMG data from six electrodes on the thoraco-lumbar region and whole-body kinematic data from a stereo-photogrammetric system. Data were recorded during a standardized repetitive lifting task (load=15% body mass; 12 lifts/min; 5-min duration). The task resulted in significant decreases in IMDF for six of the nine subjects, with a symmetrical pattern of fatigue among contralateral muscles and greater decrements in the lower lumbar region. For those subjects with a significant decrease in IMDF, a lower limb and/or upper limb biomechanical adaptation to fatigue was observed during the task. Increases in the peak box acceleration were documented. In two subjects, the acceleration doubled its value from the beginning to the end of the exercise, which lead to a significant increase in the torque at L4/L5. This observation suggests an association between muscle fatigue at the lumbar region and the way the subject manipulates the box during the exercise. Fatigue-related biomechanical adaptations are discussed as a possible supplement to functional capacity assessments among patients with LBP.     

Unilateral and bilateral subthalamic nucleus stimulation in Parkinson's disease: effects on EMG signals of lower limb muscles during walking.

The effects of subthalamic nucleus (STN) stimulation on the spatio-temporal organization of locomotor commands directed to lower limb muscles were studied in subjects with idiopathic Parkinson's Disease (PD) by recording the EMG activity produced during steady-state walking in representative thigh (rectus femoris, RF, and semimembranosus, SM) and leg (gatrocnemius medialis, GAM, and tibialis anterior, TA) muscles, under four experimental conditions: basal stimulation OFF, unilateral (right and left) stimulation ON, and bilateral stimulation ON. Locomotor profiles of all of the muscles tested were found to be substantially affected by STN stimulation, either in terms of restoration/enhancement of the main activity bursts or normalization of recruitment timing thereof. Responses showed relatively higher statistical significance in the distal groups (GAM and TA) and, within them, for the EMG components called into action over the ground-contact (ankle dorsiflexors) and midstance (ankle plantarflexors) phases of the stride cycle. In line with data obtained from clinical rating, unilateral stimulation produced less consistent EMG changes compared with bilateral stimulation. However, at variance with clinical effects, which prevailed on the side of the body contralateral to stimulation, EMG responses to unilateral stimulation were usually symmetrical. Results indicate that the impact of STN stimulation on locomotor activation of lower limb muscles in PD is characterized by: 1) substantial effects exhibiting differential topographical (distal versus proximal) and stride-phase (stance versus swing) consistency and 2) absence of the lateralized actions typically observed for the clinical signs of the disease. Interaction with the activity of functionally different executive systems might account for the observed pattern of responsiveness.     

Prediction of joint moments using a neural network model of muscle activations from EMG signals

Because the relationship between electromyographic (EMG) signals and muscle activations remains unpredictable, a new way to determine muscle activations from EMG signals by using a neural network is proposed and realized. Using a neural network to predict the muscle activations from EMG signals avoids establishing a complex mathematical model to express the muscle activation dynamics. The feed-forward neural network model of muscle activations applied here is composed of four layers and uses an adjusted back-propagation training algorithm. In this study, the basic back-propagation algorithm was not applicable, because muscle activation could not be measured, and hence the error between predicted activation and the real activation was not available. Thus, an adjusted back-propagation algorithm was developed. Joint torque at the elbow was calculated from the EMG signals of ten flexor and extensor muscles, using the neural network result of estimated activation of the muscles. Once muscle activations were obtained, Hill-type models were used to estimate muscle force. A musculoskeletal geometry model was then used to obtain moment arms, from which joint moments were determined and compared with measured values. The results show that this neural network model can be used to represent the relationship between EMG signals and joint moments well.     

The effect of joint angle on the timing of muscle contractions elicited by neuromuscular electrical stimulation

Neuromuscular electrical stimulation was used to evoke isometric knee extension contractions in seven individuals with spinal cord injury (SCI) and the time for knee extension torque to rise and fall was measured across a range of knee angles. The stimulated muscles took more than twice as long to develop 50% of maximum torque at an angle of 15 degrees, compared to an angle of 90 degrees. This time difference comprised both an increased delay before torque rose above resting levels (31 +/- 3 ms at 90 degrees, 67 +/- 24 ms at 15 degrees), and a prolonged duration over which torque was rising (72 +/- 14 ms at 90 degrees, 140 +/- 62 ms at 15 degrees). There was no change, however, in the time taken for torque to fall after cessation of stimulation at different knee angles (58 +/- 5-ms delay, 60 +/- 11-ms fall time). The difference in torque rise time with joint angle has implications for modeling functional activities that differ greatly in their joint angles. This study provides regression equations whereby activation times for the quadriceps muscles of individuals with SCI can be predicted for specific angles of knee flexion.     

Study of the control strategy of the quadriceps muscles in anterior knee pain.

Anterior knee pain (AKP) is a common pathological condition, particularly among young people and athletes, associated to an abnormal motion of the patella during the bending of the knee and possibly dependent on a muscular or structural imbalance. A lack of synergy in the quadriceps muscles results in a dynamic misalignment of the patella, which in turn produces pain. AKP rehabilitative therapy consists of conservative treatment whose main objective is to strengthen the Vastus Medialis. The aim of this article is to study the quadriceps muscle control strategy in AKP patients during an isokinetic exercise. Analysis of the muscle activation strategy is important for an objective measurement of the knee functionality in that it helps to diagnose and monitor the rehabilitative treatment. Surface electromyography (EMG) from the three superficial muscles of the femoral quadriceps during a concentric isokinetic exercise has been analyzed along with the signals of knee joint position and torque. A group of 12 AKP patients has been compared with a group of 30 normal subjects. Analysis of the grand ensemble average of the EMG linear envelopes in AKP patients reveals significant modifications in Vastus Medialis activity compared to the other quadriceps muscles. In order to study the synergy of the muscles, temporal identifiers have been associated to the EMG linear envelopes. To this end, EMG linear envelope decomposition in Gaussian pulses turned out to be effective and the results highlight an appreciable delay in the activation of the Vastus Medialis in AKP patients. This muscular unbalance can explain the abnormal motion of the patella.     

The development of a potential optimized stimulation intensity envelope for drop foot applications

An optimized stimulation intensity envelope for use in hemiplegic drop foot applications has been developed. The traditional trapezoidal stimulation intensity approach has been examined and found to be inconsistent with the muscle activity patterns observed in healthy gait and therefore unsuitable. Experimental functional electrical stimulation (FES)-elicited tibialis anterior (TA) electromyography (EMG) data was taken over the ankle range of interest (occurring during active dorsiflexion and loading response) while also taking into account the type of TA muscle contraction occurring (concentric, eccentric, and isometric) and the speed of hemiplegic ankle joint rotation. Using the processed data, a model of normalized EMG versus pulsewidth was developed. Implementation of this model showed the unsuitability of the trapezoidal approach in the reproducing of a natural EMG profile. An optimized stimulation intensity profile is proposed which is expected to accurately reproduce the natural TA EMG profile during gait.     

Real-time classification of forearm electromyographic signals corresponding to user-selected intentional movements for multifunction prosthesis control

Pattern recognition-based multifunction prosthesis control strategies have largely been demonstrated with subsets of typical able-bodied hand movements. These movements are often unnatural to the amputee, necessitating significant user training and do not maximally exploit the potential of residual muscle activity. This paper presents a real-time electromyography (EMG) classifier of user-selected intentional movements rather than an imposed subset of standard movements. EMG signals were recorded from the forearm extensor and flexor muscles of seven able-bodied participants and one congenital amputee. Participants freely selected and labeled their own muscle contractions through a unique training protocol. Signals were parameterized by the natural logarithm of root mean square values, calculated within 0.2 s sliding and non overlapping windows. The feature space was segmented using fuzzy C-means clustering. With only 2 min of training data from each user, the classifier discriminated four different movements with an average accuracy of 92.7% +/- 3.2%. This accuracy could be further increased with additional training data and improved user proficiency that comes with practice. The proposed method may facilitate the development of dynamic upper extremity prosthesis control strategies using arbitrary, user-preferred muscle contractions.     

EMG and metabolite-based prediction of force in paralyzed quadriceps muscle under interrupted stimulation.

A major issue associated with functional electrical stimulation (FES) of a paralyzed limb is the decay with time of the muscle force as a result of fatigue. A possible means to reduce fatigue during FES is by using interrupted stimulation, in which fatigue and recovery occur in sequence. In this study, we present a model which enables us to evaluate the temporal force generation capacity within the electrically activated muscle during first stimulation fatigue, i.e., when the muscle is activated from unfatigued initial conditions, and during postrest stimulation, i.e., after different given rest durations. The force history of the muscle is determined by the activation as derived from actually measured electromyogram (EMG) data, and by the metabolic fatigue function expressing the temporal changes of muscle metabolites, from existing data acquired by in vivo 31P MR spectroscopy in terms of the inorganic phosphorus variables, Pi or H2PO4-, and by the intracellular pH. The model was solved for supra-maximal stimulation in isometric contractions separated by rest periods, and compared to experimentally obtained measurements. EMG data were fundamental for prediction of the ascending force during its posttetanic response. On the other hand, prediction of the decaying phase of the force was possible only by means of the metabolite-based fatigue function. The prediction capability of the model was assessed by means of the error between predicted and measured force profiles. The predicted force obtained from the model in first stimulation fatigue fits well with the experimental one. In postrest stimulation fatigue, the different metabolites provided different prediction capabilities of the force, depending on the duration of the rest period. Following rest duration of 1 min, Pi provided the best prediction of force; H2PO4- extended the prediction capacity of the model to up to 6 min and pH provided a reliable prediction for rest durations longer than 12 min. The results presented shed light on the roles of EMG and of metabolites in prediction of the force history of a paralyzed muscle under conditions where fatigue and recovery occur in sequence.     

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.     

Noninvasive measurement of torque development in the rat foot: measurement setup and results from stimulation of the sciatic nerve with polyimide-based cuff electrodes

In neural rehabilitation, selective activation of muscles after electrical stimulation is mandatory for control of paralyzed limbs. For an evaluation of electrode selectivity, a setup to noninvasively measure the force development after electrical stimulation in the rat foot was developed. The setup was designed in accordance to the anatomical features of the rat model to test the isometric torque development at given ankle positions in an intact leg. In this paper, the setup design and development is presented and discussed. In a first study, the selectivity of small nerve cuffs with 12 electrodes implanted around the rat sciatic nerve was investigated. Special attention was drawn to the performance of the torque measurement setup in comparison to electrophysiological data obtained from compound muscle action potential recordings. Using one cuff around the nerve, electrical stimulation on different electrode tripoles led to plantarflexion and dorsiflexion of the foot without an a priori alignment of the cuff.     

Clinician's view: dynamic EMG

The research into a correlation between joint biomechanics and the action of muscles that act on the limb segment involved during movement has become very important in recent years. However, while the techniques for elaborating the EMG signal and its relationship with the dynamics of movement are described in detail in the literature, from a clinical point of view publications on how these techniques are used for clinical gait analysis applications are scarce. The purpose of dynamic EMG in clinical gait analysis is essentially to define the muscular activity that controls joint movement during gait, as shown by studies carried out on children with cerebral palsy, in which the abnormal pattern of muscle activation is used, for example, as an indication for surgical tendon transfer or lengthening     

一种非对称混合永磁拓扑的电机转矩特性分析

本文通过将“非对称磁路”的设计理念与混合永磁体拓扑结构相融合,提出一种具有“钕铁硼+铁氧体”协同励磁特点的非对称磁路混合永磁电机。通过充分考虑混合永磁体的结构特点,深入分析了磁路的非对称设计机理。为了充分地挖掘该电机的转矩能力,针对性地从钕铁硼转矩分量和铁氧体转矩分量的角度来分析电机的转矩特性。并且,采用冻结磁导率法,实现对钕铁硼转矩分量和铁氧体转矩分量的有效提取与分析。经过参数的优化设计,有效实现了不同转矩分量电流角之间的逼近效应,从而提升了永磁磁场利用率,实现了转矩性能的提升。     

Soft starting of large induction motors at constant current withminimized starting torque pulsations

The performance of a voltage-controlled large induction motor soft starter has been improved, resulting in nearly perfect current and torque profiles. The performance analysis of the soft-starter motor-load combination has been carried out in the dynamic state using a hybrid induction machine model which takes account of disconnected two-phase and three-phase operational modes of the machine. Some simple control strategies have been proposed to keep the current constant at any preset value during starting, and to eliminate supply-frequency starting torque pulsations. These are shown to be very effective in the elimination of reclosing transient torque and current components at any speed at the reconnection instant to the supply after an interruption, or at the instant of bus transfer. The proposed strategies have been verified experimentally on a laboratory machine using a special torque measurement system in the dynamic state     

The relationship between electrical stimulus and joint torque: a dynamic model.

The knowledge of the behavior of electrically activated muscles is an important requisite for the development of functional electrical stimulation (FES) systems to restore mobility to persons with paralysis. The aim of this work was to develop a model capable of relating electrical parameters to dynamic joint torque for FES applications. The knee extensor muscles, stimulated using surface electrodes, were used for the experimental preparation. Both healthy subjects and people with paraplegia were tested. The dynamics of the lower limb were represented by a nonlinear second order model, which took account of the gravitational and inertial characteristics of the anatomical segments as well as the damping and stiffness properties of the knee joint. The viscous-elastic parameters of the system were identified experimentally through free pendular movements of the leg. Leg movements induced by quadriceps stimulation were acquired too, using a motion analysis system. Results showed that, for the considered experimental conditions, a simple one-pole transfer function is able to model the relationship between stimulus pulsewidth (PW) and active muscle torque. The time constant of the pole was found to depend on the stimulus pattern (ramp or step) while gain was directly dependent on stimulation frequency.     

笼型异步发电机的直接转矩控制策略的研究

对笼型异步电机与电力电子变换器结合构成发电系统进行了研究 ,说明了采用直接转矩控制策略可使这种发电系统具有很好的输出电压特性。文中介绍了异步发电机直接转矩控制的原理与实现方法 ,并给出了仿真与实验结果     

新型磁悬浮开关磁阻电机的有限元分析

为了解决传统的磁悬浮开关磁阻电机定子同一齿极上的转矩绕组与悬浮力绕组的强耦合的问题,本文提出一种采用了混合定子极的新型8/10极磁悬浮开关磁阻电机模型。混合定子中都只有一套绕组,其中四极产生转子所需转矩,另外四极产生转子回到平衡位置的径向力。本文利用Ansoft软件建立电机模型,进行了静态转矩特性仿真、电磁径向力数值计算和动态仿真研究。仿真结果为此新型电机的优化设计和进一步研究提供了理论依据。     

Comparison of joint torque evoked with monopolar and tripolar-cuff electrodes

Using a self-sizing spiral-cuff electrode placed on the sciatic nerve of the cat, the joint torque evoked with stimulation applied to contacts in a monopolar configuration was judged to be the same as the torque evoked by stimulation applied to contacts in a tripolar configuration. Experiments were carried out in six acute cat preparations. In each experiment, a 12-contact electrode was placed on the sciatic nerve and used to effect both the monopolar and tripolar electrode configurations. The ankle torque produced by electrically evoked isometric muscle contraction was measured in three dimensions: plantar flexion, internal rotation, and inversion. Based on the recorded ankle torque, qualitative and quantitative comparisons were performed to determine if any significant difference existed in the pattern or order in which motor nerve fibers were recruited. No significant difference was found at a 98% confidence interval in either the recruitment properties or the repeatability of the monopolar and tripolar configurations. Further, isolated activation of single fascicles within the sciatic nerve was observed. Once nerve fibers in a fascicle were activated, recruitment of that fascicle was modulated over the full range before "spill-over" excitation occurred in neighboring fascicles. These results indicate that a four contact, monopolar nerve-cuff electrode is a viable substitute for a 12 contact, tripolar nerve-cuff electrode. The results of this study are also consistent with the hypothesis that multicontact self-sizing spiral-cuff electrodes can be used in motor prostheses to provide selective control of many muscles. These findings should also apply to other neuroprostheses employing-cuff electrodes on nerve trunks.