Dorsiflexion Specific Ankle Robotics to Enhance Motor Learning After Stroke: A Preliminary Report.

Background: Robotics has emerged as a promising avenue for gait retraining of persons with chronic hemiparetic gait and footdrop, yet there is a gap regarding the biomechanical adaptations that occur with locomotor learning. We developed an ankle exoskeleton (AMBLE) enabling dorsiflexion assist-as-needed across gait cycle sub-events to train and study the biomechanics of motor learning stroke. This single-armed, non-controlled study investigates effects of nine hours (9 weeks × 2 sessions/week) locomotor task-specific ankle robotics training on gait biomechanics and functional mobility in persons with chronic hemiparetic gait and foot drop.

Anodization as a scalable nanofabrication method to engineer mechanobactericidal nanostructures on complex geometries.

Bacterial contamination of implant surfaces is one of the primary causes of their failure, and this threat has been further exacerbated due to the emergence of drug-resistant bacteria. Nanostructured mechanobactericidal surfaces that neutralize bacteria via biophysical forces instead of traditional biochemical routes have emerged as a potential remedy against this issue. Here, we report on the bactericidal activity of titania nanotubes (TNTs) prepared by anodization, a well-established and scalable method.

Cellular Senescence Program is Sensitive to Physical Differences in Polymeric Tissue Scaffolds.

A typical cellular senescence program involves exposing cells to DNA-damaging agents such as ionization radiation or chemotherapeutic drugs, which cause multipronged changes, including increased cell size and volume, the onset of enhanced oxidative stress, and inflammation. In the present study, we examined if the senescence onset decision is sensitive to the design, porosity, and architecture of the substrate. To address this, we generated a library of polymeric scaffolds widely used in tissue engineering of varied stiffness, architecture, and porosity.

Cooperative stiffening of flexible high aspect ratio nanostructures impart mechanobactericidal activity to soft substrates.

Understanding how bacteria interact with surfaces with micrometer and/or sub-micrometer roughness is critical for developing antibiofouling and bactericidal topographies. A primary research focus in this field has been replicating and emulating bioinspired nanostructures on various substrates to investigate their mechanobactericidal potential. Yet, reports on polymer substrates, especially with very high aspect ratios, have been rare, despite their widespread use in our daily lives.

Theoretical and computational investigations into mechanobactericidal activity of nanostructures at the bacteria-biomaterial interface: a critical review.

Mechanobactericidal surfaces kill bacteria upon contact by posing landscapes hostile to them and have rapidly gained popularity amongst researchers over the past decade. But several fundamental aspects of the physical interactions between bacteria and nanostructures and the underlying killing mechanisms are still poorly understood. This is partly attributable to the difficulties associated with the characterization of the bacteria-nanostructure interface in a biological environment during the killing process and to the stochastic and non-linear behaviors generally associated with biological systems.

Recognizing Hemiparetic Ankle Deficits Using Wearable Pressure Sensors.

Objective: To provide proof-of-concept for a novel method to recognize impaired push-off and foot-drop deficits in hemiparetic gait using analog pressure sensors. These data may enhance feedback from a modular ankle exoskeleton (such as Anklebot) for stroke rehabilitation, which now employs on/off foot switches under the foot.

Methods: A pressure sensor was positioned on the posterior side of the calcaneus.

Gait and Balance Biomechanics in Older Adults With and Without Human Immunodeficiency Virus.

Balance deficits impose limitations and can impede safe walking contributing to falls and falls-related complications. The objective of this study was to perform an in-depth balance assessment and compare domains of limitations in older men with and without HIV infection. Fifteen sedentary African American men either with HIV ( = 6) or without HIV ( = 9 controls) participated.

Mimicking Insect Wings: The Roadmap to Bioinspiration.

Insect wings possess unique, multifaceted properties that have drawn increasing attention in recent times. They serve as an inspiration for engineering of materials with exquisite properties. The structure-function relationships of insect wings are yet to be documented in detail.

Task-specific ankle robotics gait training after stroke: a randomized pilot study.

Background: An unsettled question in the use of robotics for post-stroke gait rehabilitation is whether task-specific locomotor training is more effective than targeting individual joint impairments to improve walking function. The paretic ankle is implicated in gait instability and fall risk, but is difficult to therapeutically isolate and refractory to recovery. We hypothesize that in chronic stroke, treadmill-integrated ankle robotics training is more effective to improve gait function than robotics focused on paretic ankle impairments.

An Engineering Model of Human Balance Control-Part I: Biomechanical Model.

We developed a balance measurement tool (the balanced reach test (BRT)) to assess standing balance while reaching and pointing to a target moving in three-dimensional space according to a sum-of-sines function. We also developed a three-dimensional, 13-segment biomechanical model to analyze performance in this task. Using kinematic and ground reaction force (GRF) data from the BRT, we performed an inverse dynamics analysis to compute the forces and torques applied at each of the joints during the course of a 90 s test.

Increased reward in ankle robotics training enhances motor control and cortical efficiency in stroke.

Robotics is rapidly emerging as a viable approach to enhance motor recovery after disabling stroke. Current principles of cognitive motor learning recognize a positive relationship between reward and motor learning. Yet no prior studies have established explicitly whether reward improves the rate or efficacy of robotics-assisted rehabilitation or produces neurophysiologic adaptations associated with motor learning.

Modular ankle robotics training in early subacute stroke: a randomized controlled pilot study.

Unlabelled: BACKGROUND. Modular lower extremity robotics may offer a valuable avenue for restoring neuromotor control after hemiparetic stroke. Prior studies show that visually guided and visually evoked practice with an ankle robot (anklebot) improves paretic ankle motor control that translates into improved overground walking.

Clinical application of a modular ankle robot for stroke rehabilitation.

Background: Advances in our understanding of neuroplasticity and motor learning post-stroke are now being leveraged with the use of robotics technology to enhance physical rehabilitation strategies. Major advances have been made with upper extremity robotics, which have been tested for efficacy in multi-site trials across the subacute and chronic phases of stroke. In contrast, use of lower extremity robotics to promote locomotor re-learning has been more recent and presents unique challenges by virtue of the complex multi-segmental mechanics of gait.

Changes in passive ankle stiffness and its effects on gait function in people with chronic stroke.

Mechanical impedance of the ankle is known to influence key aspects of ankle function. We investigated the effects of robot-assisted ankle training in people with chronic stroke on the paretic ankle's passive stiffness and its relationship to overground gait function. Over 6 wk, eight participants with residual hemiparetic deficits engaged in a visuomotor task while seated that required dorsiflexion (DF) or plantar flexion (PF) of their paretic ankle with an ankle robot ("anklebot") assisting as needed.

Short-term ankle motor performance with ankle robotics training in chronic hemiparetic stroke.

Cerebrovascular accident (stroke) often results in impaired motor control and persistent weakness that may lead to chronic disability, including deficits in gait and balance function. Finding ways to restore motor control may help reduce these deficits; however, little is known regarding the capacity or temporal profile of short-term motor adaptations and learning at the hemiparetic ankle. Our objective was to determine the short-term effects of a single session of impedance-controlled ankle robot ("anklebot") training on paretic ankle motor control in chronic stroke.

Measurement of passive ankle stiffness in subjects with chronic hemiparesis using a novel ankle robot.

Our objective in this study was to assess passive mechanical stiffness in the ankle of chronic hemiparetic stroke survivors and to compare it with those of healthy young and older (age-matched) individuals. Given the importance of the ankle during locomotion, an accurate estimate of passive ankle stiffness would be valuable for locomotor rehabilitation, potentially providing a measure of recovery and a quantitative basis to design treatment protocols. Using a novel ankle robot, we characterized passive ankle stiffness both in sagittal and in frontal planes by applying perturbations to the ankle joint over the entire range of motion with subjects in a relaxed state.

Ankle training with a robotic device improves hemiparetic gait after a stroke.

Background: Task-oriented therapies such as treadmill exercise can improve gait velocity after stroke, but slow velocities and abnormal gait patterns often persist, suggesting a need for additional strategies to improve walking.

Objectives: To determine the effects of a 6-week visually guided, impedance controlled, ankle robotics intervention on paretic ankle motor control and gait function in chronic stroke.

Methods: This was a single-arm pilot study with a convenience sample of 8 stroke survivors with chronic hemiparetic gait, trained and tested in a laboratory.

Effects of unilateral robotic limb loading on gait characteristics in subjects with chronic stroke.

Background: Hemiparesis after stroke often leads to impaired ankle motor control that impacts gait function. In recent studies, robotic devices have been developed to address this impairment. While capable of imparting forces to assist during training and gait, these devices add mass to the paretic leg which might encumber patients' gait pattern.

A novel theoretical framework for the dynamic stability analysis, movement control, and trajectory generation in a multisegment biomechanical model.

We consider a simplified characterization of the postural control system that embraces two broad components: one representing the musculoskeletal dynamics in the sagittal plane and the other representing proprioceptive feedback and the central nervous system (CNS). Specifically, a planar four-segment neuromusculoskeletal model consisting of the ankle, knee, and hip degrees-of-freedom (DOFs) is described in this paper. The model includes important physiological constructs such as Hill-type muscle model, active and passive muscle stiffnesses, force feedback from the Golgi tendon organ, muscle length and rate feedback from the muscle spindle, and transmission latencies in the neural pathways.

PID controller tuning for the first-order-plus-dead-time process model via Hermite-Biehler theorem.

This paper discusses PID stabilization of a first-order-plus-dead-time (FOPDT) process model using the stability framework of the Hermite-Biehler theorem. The FOPDT model approximates many processes in the chemical and petroleum industries. Using a PID controller and first-order Padé approximation for the transport delay, the Hermite-Biehler theorem allows one to analytically study the stability of the closed-loop system.

Stabilizing PID controllers for a single-link biomechanical model with position, velocity, and force feedback.

In this paper we address the problem of PID stabilization of a single-link inverted pendulum-based biomechanical model with force feedback, two levels of position and velocity feedback, and with delays in all the feedback loops. The novelty of the proposed model lies in its physiological relevance, whereby both small and medium latency sensory feedbacks from muscle spindle (MS), and force feedback from Golgi tendon organ (GTO) are included in the formulation. The biomechanical model also includes active and passive viscoelastic feedback from Hill-type muscle model and a second-order low-pass function for muscle activation.