Dynamic Determinants of the Uncontrolled Manifold during Human Quiet Stance.

Human postural sway during stance arises from coordinated multi-joint movements. Thus, a sway trajectory represented by a time-varying postural vector in the multiple-joint-angle-space tends to be constrained to a low-dimensional subspace. It has been proposed that the subspace corresponds to a manifold defined by a kinematic constraint, such that the position of the center of mass (CoM) of the whole body is constant in time, referred to as the kinematic uncontrolled manifold ().

Robot therapy for stroke survivors: proprioceptive training and regulation of assistance.

Robot therapy seems promising with stroke survivors, but it is unclear which exercises are most effective, and whether other pathologies may benefit from this technique. In general, exercises should exploit the adaptive nature of the nervous system, even in chronic patients. Ideally, exercise should involve multiple sensory modalities and, to promote active subject participation, the level of assistance should be kept to a minimum.

Braccio di Ferro: a new haptic workstation for neuromotor rehabilitation.

This technical note describes a new robotic workstation for neurological rehabilitation, shortly named Braccio di Ferro. It has been designed by having in mind the range of forces and the frequency bandwidth that characterize the interaction between a patient and a physical therapist, as well as a number of requirements that we think are essential for allowing a natural haptic interaction: back-driveability, very low friction and inertia, mechanical robustness, the possibility to operate in different planes, and an open software environment, which allows the operator to add new functionalities and design personalized rehabilitation protocols. Braccio di Ferro is an open system and, in the spirit of open source design, is intended to foster the dissemination of robot therapy.

Body sway during quiet standing: is it the residual chattering of an intermittent stabilization process?

This paper reviews different approaches for explaining body sway while quiet standing that directly address the instability of the human inverted pendulum. We argue that both stiffness control [Winter, D. A.

Direct measurement of ankle stiffness during quiet standing: implications for control modelling and clinical application.

In this study, we describe a device for the direct measurement of intrinsic ankle stiffness in quiet standing. It consists of a motorised footplate mounted on a force platform. By generating random sequences of step-like disturbances (1 degrees amplitude, 150 ms duration) and measuring the corresponding displacements of the center of pressure in the antero-posterior direction, we obtained torque-rotation patterns after aligning, averaging, and scaling the postural responses.

Spot check and recalibration of stabilometric platforms.

The purpose of this paper is to describe a system for the rapid spot check of the accuracy of stabilometric platforms used in clinical posturography and, if needed, for estimating a recalibration matrix. It is based on a simple mechanical device which can be applied to any stabilometric platform; it consists of a ballast and a rotating mass which can generate a spiral-shaped training set of posturographic data. A software package has been developed whose purpose is to estimate a calibration matrix and to provide a figure of merit for the calibrated system.

The sway-density curve and the underlying postural stabilization process.

The sway-density curve (SDC) is computed by counting, for each time instant, the number of consecutive samples of the statokinesigram falling inside a circle of small radius R. The authors evaluated the sensitivity of the curve to the variation of R and found that in the range 3-5 mm the sensitivity was low, indicating that SDC is a robust descriptor of posturographic patterns. In addition, they investigated the relationship between SDC and the underlying postural stabilization process by decomposing the total ankle torque into three components: a tonic component (over 69 & of the total torque), an elastic torque caused by ankle stiffness (about 19 &), and an anticipatory active torque (about 12 &).

Cerebellar ataxia: quantitative assessment and cybernetic interpretation.

To assess neuromotor disorders clinicians often rely on rating scales. Unfortunately, these scales lack the sensitivity and accuracy needed to detect the small changes in motor coordination that reflect the clinical progression of the disease on the basis of which treatment programmes can be adjusted. As a contribution to this topic, the present paper proposes a straightforward kinematic and kinetic analysis of reaching movements of patients with cerebellar ataxia in conjunction with a cybernetic interpretation of the data.

Coordinate-free sensorimotor processing: computing with population codes.

The purpose of the study is to outline a computational architecture for the intelligent processing of sensorimotor patterns. The focus is on the nature of the internal representations of the outside world which are necessary for planning and other goal-oriented functions. A model of cortical map dynamics and self-organization is proposed that integrates a number of concepts and methods partly explored in the field.

Ankle muscle stiffness alone cannot stabilize balance during quiet standing.

This communication addresses again the hypothesis that the stabilization of balance during quiet standing is achieved by the stiffness of ankle muscles without anticipatory active control. It is shown that a recently proposed method of estimating ankle stiffness directly from the analysis of the posturographic data is incorrect because it ignores the modulation of motoneuronal activity and grossly overestimates the real range of values in relation with the critical value of stiffness. Moreover, a new simulation study with a realistic model of ankle muscles demonstrates the mechanical instability of the system when there is no anticipatory control input.

A new look at posturographic analysis in the clinical context: sway-density versus other parameterization techniques.

In order to identify useful guidelines for the clinical practitioner as regards the use of static posturographic analysis, we collected a set of posturograms from 3 groups of participants (normal participants, Parkinsonian patients, and osteo-porotic patients), according to the Romberg test. From each posturogram, we extracted global parameters (in the time domain and frequency domain) and structural parameters (based on diffusion plots and sway-density plots), with a total of 38 parameters. The discriminative power of each parameter was evaluated by means of statistical analysis in relation to the condition effect (open vs.