Direction Of Perturbation Research Articles

Does a Passive Unilateral Lower Limb Exoskeleton Affect Human Static and Dynamic Balance Control?

Exoskeletons are wearable devices closely coupled to the human, which can interact with the musculoskeletal system, e. g., to augment physical and functional capabilities. A main prerequisite for the development and application of exoskeletons is to investigate the human-exoskeleton interaction, particularly in terms of potential inferences with human motor control. Therefore, the purpose of the present study was to investigate whether a passive unilateral lower limb exoskeleton has an impact on static and dynamic reactive balance control. Eleven healthy subjects (22.9 ± 2.5 years, five females) volunteered for this study and performed three different balance tasks: bipedal standing, single-leg standing, and platform perturbations in single-leg standing. All the balance tasks were conducted with and without a passive unilateral lower limb exoskeleton, while force plates and a motion capture system were used to capture the center of pressure mean sway velocity and the time to stabilization, respectively. Dependent t-tests were separately run for both static balance tests, and a repeated-measure analysis of variance with factors exoskeleton and direction of perturbation was calculated for the dynamic reactive balance task. The exoskeleton did not significantly influence postural sway in bipedal stance. However, in single-leg stance, the mediolateral mean sway velocity of the center of pressure was significantly shorter for the exoskeleton condition. For the dynamic reactive balance task, the participants tended to regain stability less quickly with the exoskeleton, as indicated by a large effect size and longer time to stabilization for all directions of perturbation. In summary, the study showed that the exoskeleton provided some assistive support under static conditions, which however may disappear when sufficient stability is available (bipedal stance). Besides, the exoskeleton tended to impair dynamic reactive balance, potentially by impeding adequate compensatory adjustments. These are important findings with strong implications for the future design and application of exoskeletons, emphasizing the significance of taking into account the mechanisms of human motor control.

Stumbling reactions in hypo and hyper gravity \u2013 muscle synergies are robust across different perturbations of human stance during parabolic flights

The control of bipedal stance and the capacity to regain postural equilibrium after its deterioration in variable gravities are crucial prerequisites for manned space missions. With an emphasize on natural orthograde posture, computational techniques synthesize muscle activation patterns of high complexity to a simple synergy organization. We used nonnegative matrix factorization to identify muscle synergies during postural recovery responses in human and to examine the functional significance of such synergies for hyper-gravity (1.75 g) and hypo-gravity (0.25 g). Electromyographic data were recorded from leg, trunk and arm muscles of five human exposed to five modes of anterior and posterior support surface translations during parabolic flights including transitional g-levels of 0.25, 1 and 1.75 g. Results showed that in 1 g four synergies accounted for 99% of the automatic postural response across all muscles and perturbation directions. Each synergy in 1 g was correlated to the corresponding one in 0.25 and 1.75 g. This study therefore emphasizes the similarity of the synergy organization of postural recovery responses in Earth, hypo- and hyper-gravity conditions, indicating that the muscle synergies and segmental strategies acquired under terrestrial habits are robust and persistent across variable and acute changes in gravity levels.

Postural control adapts by changing temporal neuromuscular control rather than movement strategy complexity after mild perturbation during stance

When the arm of a standing human is perturbed in an unpredictable direction, postural muscles are activated at latencies as short as 50–110 ms. While the motion of the body clearly progresses in hand-to-leg sequence, there is no systematic muscle activation sequence from the arm to the leg muscles, suggesting that the activation of the muscles is not likely the result of local stretch reflexes. In fact, the lower limb muscles are activated before the upright posture is significantly disturbed. The short-latency activation amplitude and the activation probability are clearly tuned to the direction of the arm perturbation for both rostral and caudal muscles. The effect of central set on the short-latency response has been investigated by manipulating the predictability of the perturbations. Possible underlying neural mechanisms have been discussed.

Second-order perturbations in Alfvén waves in cold plasma approximation

The second-order amplitude perturbations driven by Alfvén waves are studied. Equations for such second-order perturbations are derived and their solutions are found. The second-order perturbations are shown to be generated by the magnetic pressure of the waves. They represent plasma flows and magnetic field perturbations in a plane perpendicular to the direction of the field perturbation and plasma displacement in the Alfvén wave. In connection with the interpretation of fast plasma flows observed in the magnetotail, of particular interest is the description of second-order flows, which relates their properties to properties of Alfvén waves and the disturbance that generates them. The results suggest that at least some of the fast plasma flows observed in the magnetotail can be one of the manifestations of propagating Alfvén waves. The environment model and cold plasma approximation in use are quite applicable for the plasma sheet boundary layers, where an essential part of the fast plasma flows occurs.

Возмущения второго порядка в альфвеновских волнах в приближении холодной плазмы

The second-order amplitude perturbations driven by Alfvén waves are studied. Equations for such second-order perturbations are derived and their solutions are found. The second-order perturbations are shown to be generated by the magnetic pressure of the waves. They represent plasma flows and magnetic field perturbations in a plane perpendicular to the direction of the field perturbation and plasma displacement in the Alfvén wave. In connection with the interpretation of fast plasma flows observed in the magnetotail, of particular interest is the description of second-order flows, which relates their properties to properties of Alfvén waves and the disturbance that generates them. The results suggest that at least some of the fast plasma flows observed in the magnetotail can be one of the manifestations of propagating Alfvén waves. The environment model and cold plasma approximation in use are quite applicable for the plasma sheet boundary layers, where an essential part of the fast plasma flows occurs.

Small strain shear modulus of anisotropically loaded sands

This study aims to investigate the significant influence of stress anisotropy and different stress components on the small-strain shear modulus of sands using a comprehensive set of bender element tests on sand specimens undergoing anisotropic stress state along variable stress paths. Particular attention is given to the contribution of sand index properties, including grain size characteristics and particle shape. It is shown that there is a great difference between the contributions of the principal stresses along and perpendicular to the direction of wave propagation, especially for the well-graded sands having irregular in shape particles. Indeed, the contribution of the principal stress along the vertical direction, i.e. the direction of wave propagation, was observed to be more pronounced than that in the horizontal direction which coincides with the direction of particle perturbation. Using the experimental results obtained in the course of this study, a previously proposed equation is modified and presented in a new form in order to evaluate the small-strain shear modulus of sands subjected to anisotropic stress states in the major and minor principal stress plane.

Generation of soliton, cnoidal, and periodic waves during pumping GaAs by an electron beam

Abstract Increasing the lifetime of plasma semiconductors that exposed to an electron beam is an important challenge. The dynamical features of growing nonlinear waves, which transfer the energy through the semiconductors to produce defects, are examined. For this purpose, a quantum fluid model including degenerate pressures, exchange-correlation effects, and Bohm potentials are considered for GaAs semiconductor plasma composed of electrons, holes, and electron beam. The basic equations are reduced to Kadomtsev-Petviashvili (KP) equation. The latter is solved analytically using the Painleve analysis method, which yields three different nonlinear solutions describe cnoidal, periodic, and soliton waves. It is found that positive and negative nonlinear wave potentials can exist. The polarity of the wave depends on an electron streaming velocity and moving frame speed. Furthermore, controlling the streaming electron density, electron streaming velocity, and direction of transverse perturbation has great importance to minimize the effects of unfavorable nonlinear waves. The relevance of electron streaming velocity and transverse perturbation direction on nonlinear wave existence is highlighted.

Accuracy of Dynamic Force Compensation Varies With Direction and Speed.

This study investigates physical responses to force perturbations while tracking a moving target. The results show accuracy depends on the direction of a force perturbation and speed of the task, but generally not on hand. There are also differences in responses when the force is first applied and when it is removed.

Effects of Internal and External Attentional Focus on Postural Response to a Sliding Stance Surface.

The present study examined whether an internal or external attentional focus would affect participants' feet-in-place balance response to postural stance perturbations. A movable platform automatically slid forward or backward while healthy participants stood on it and (a) performed no cognitive activity (control), (b) focused on the pelvis or upper body sway (internal focus), (c) memorized a number displayed immediately before the platform slid (external focus), or (d) kept the equilibrium of an unstable cylinder over the arm (external focus). The forward displacement of the pelvis induced by the platform sliding forward was smaller when participants focused on their pelvic sway, although such effect was absent when they focused on their upper body sway, indicating that the internal focus was effective for the postural response when attention was paid to the pelvic sway. Regarding an external attention focus, the forward displacement of the pelvis induced by the platform sliding forward was smaller when participants focused on the equilibrium of an unstable object over the arm, but this effect was absent when they focused on the number, indicating that an external focus was only effective when the unstable object focused upon was relevant to the equilibrium of one's own body. No attentional intervention was effective during backward sliding of the support surface, indicating that central set for responding to postural perturbation depends on the direction of the postural perturbation.

Ankle muscle responses during perturbed walking with blocked ankle joints.

The ankle joint muscles can contribute to balance during walking by modulating the center of pressure and ground reaction forces through an ankle moment. This is especially effective in the sagittal plane through ankle plantar- or dorsiflexion. If the ankle joints were to be physically blocked to make an ankle strategy ineffective, there would be no functional contribution of these muscles to balance during walking, nor would these muscles generate afferent output regarding ankle joint rotation. Consequently, ankle muscle activation for the purpose of balance control would be expected to disappear. We have performed an experiment in which subjects received anteroposterior pelvis perturbations during walking while their ankle joints could not contribute to the balance recovery. The latter was realized by physically blocking the ankle joints through a pair of modified ankle-foot orthoses. In this article we present the lower limb muscle activity responses in reaction to these perturbations. Of particular interest are the tibialis anterior and gastrocnemius medialis muscles, which could not contribute to the balance recovery through the ankle joint or encode muscle length changes caused by ankle joint rotation. Yet, these muscles showed long-latency responses, ~100 ms after perturbation onset. The response amplitudes were dependent on the perturbation magnitude and direction, as well as the state of the leg. The results imply that ankle muscle responses can be evoked without changes in proprioceptive information of those muscles through ankle rotation. This suggest a more centralized regulation of balance control, not strictly related to the ankle joint kinematics. NEW & NOTEWORTHY Walking human subjects received forward-backward perturbations at the pelvis while wearing "pin-shoes," a pair of modified ankle-foot orthoses that physically blocked ankle joint movement and reduced the base of support of each foot to a single point. The lower leg muscles showed long-latency perturbation-dependent activity changes, despite having no functional contributions to balance control through the ankle joint and not having been subjected to muscle length changes through ankle joint rotation.

Postural control of a musculoskeletal model against multidirectional support surface translations.

The human body is a complex system driven by hundreds of muscles, and its control mechanisms are not sufficiently understood. To understand the mechanisms of human postural control, neural controller models have been proposed by different research groups, including our feed-forward and feedback control model. However, these models have been evaluated under forward and backward perturbations, at most. Because a human body experiences perturbations from many different directions in daily life, neural controller models should be evaluated in response to multidirectional perturbations, including in the forward/backward, lateral, and diagonal directions. The objective of this study was to investigate the validity of an NC model with FF and FB control under multidirectional perturbations. We developed a musculoskeletal model with 70 muscles and 15 degrees of freedom of joints, positioned it in a standing posture by using the neural controller model, and translated its support surface in multiple directions as perturbations. We successfully determined the parameters of the neural controller model required to maintain the stance of the musculoskeletal model for each perturbation direction. The trends in muscle response magnitudes and the magnitude of passive ankle stiffness were consistent with the results of experimental studies. We conclude that the neural controller model can adapt to multidirectional perturbations by generating suitable muscle activations. We anticipate that the neural controller model could be applied to the study of the control mechanisms of patients with torso tilt and diagnosis of the change in control mechanisms from patients’ behaviors.

Presetting of the Corticospinal Excitability in the Tibialis Anterior Muscle in Relation to Prediction of the Magnitude and Direction of Postural Perturbations

The prediction of upcoming perturbation modulates postural responses in the ankle muscles. The effects of this prediction on postural responses vary according to predictable factors. When the amplitude of perturbation can be predicted, the long-latency response is set at an appropriate size for the required response, whereas when the direction of perturbation can be predicted, there is no effect. The neural mechanisms underlying these phenomena are poorly understood. Here, we examined how the corticospinal excitability of the ankle muscles [i.e., the tibialis anterior (TA), the soleus (SOL), and the medial gastrocnemius (MG), with a focus on the TA], would be modulated in five experimental conditions: (1) No-perturbation; (2) Low (anterior translation with small amplitude); (3) High (anterior translation with large amplitude); (4) Posterior (posterior translation with large amplitude); and (5) Random (Low, High, and Posterior in randomized order). We measured the motor-evoked potentials (MEPs) induced by transcranial magnetic stimulation (TMS) at 50 ms before surface-translation in each condition. The electromyographic (EMG) responses evoked by surface-translations were also measured. The results showed that the TA-MEP amplitude was greater in the High condition (where the largest TA-EMG response was evoked among the five conditions) compared to that in the No-perturbation, Low, and Posterior conditions (High vs. No-perturbation, p < 0.001; High vs. Low, p = 0.001; High vs. Posterior, p = 0.001). In addition, the MEP amplitude in the Random condition was significantly greater than that in the No-perturbation and Low conditions (Random vs. No-perturbation, p = 0.002; Random vs. Low, p = 0.002). The EMG response in the TA evoked by perturbation was significantly smaller when a perturbation can be predicted (predictable vs. unpredictable, p < 0.001). In the SOL and MG muscles, no prominent modulations of the MEP amplitude or EMG response were observed, suggesting that the effects of prediction on corticospinal excitability differ between the dorsiflexor and plantar flexor muscles. These findings suggest that the corticospinal excitability in the TA is scaled in parallel with the prediction of the direction and magnitude of an upcoming perturbation in advance.

XCT image reconstruction by a modified superiorized iteration and theoretical analysis

ABSTRACT In this paper, we propose an improved iteration superiorization method for X-ray computed tomography image reconstruction. We simplify the classic superiorized iteration by removing two constraints imposed on the perturbation. A novel method is proposed to determine the perturbation amount and direction for the superiorized iteration simultaneously. Some theoretical properties (convergence for instance) of the superiorized iteration sequence with the proposed perturbation are analysed. We present a general proof for the convergence of ART-like iterations with summable perturbations. In addition, we prove the convergence of simultaneous iterations without the summable perturbation assumption. Experiments on simulated and real data not only verify the theoretical result but also show that the proposed algorithm is superior to the classic superiorized iteration and can reconstruct desirable images.

Functional effects of botulinum toxin type A in the hip adductors and subsequent stretching in patients with hereditary spastic paraplegia.

To investigate the functional effects of bilateral botulinum toxin A treatment and subsequent stretching of spastic hip adductors on gait and reactive lateral stepping responses in patients with pure hereditary spastic paraplegia. Explorative pre-post intervention study. Twenty-five patients with pure hereditary spastic paraplegia. Patients were treated with bilateral botulinum toxin A injections in the hip adductors and performed daily self-administered stretching exercises for 16 weeks. Before the intervention (T0), and 6 (T1) and 16 (T2) weeks thereafter, gait width, gait speed, and leg angles at first stepping-foot contact after lateral balance perturbations were assessed, as well as the corresponding success rates of reactive lateral steps. Compared with baseline, gait width increased by 12.6% and 9.7% and comfortable gait speed by 8.3% and 11.5% at T1 and T2, respectively. In known perturbation directions, leg angles increased by 5.9% at T1 and 8.0% at T2, while success rates increased from 70% at baseline to 90% at T1 and T2. No effects were found for maximal gait speed or lateral stepping responses in unknown perturbation directions. Bilateral botulinum toxin A treatment and subsequent stretching of the hip adductors may improve gait and reactive lateral stepping in patients with pure hereditary spastic paraplegia.

Simulation and Analysis of Perturbation and Observation-Based Self-Adaptable Step Size Maximum Power Point Tracking Strategy with Low Power Loss for Photovoltaics

Photovoltaic (PV) techniques are widely used in daily life. In addition to the material characteristics and environmental conditions, maximum power point tracking (MPPT) techniques are an efficient means to maximize the output power and improve the utilization of solar power. However, the conventional fixed step size perturbation and observation (P&amp;O) algorithm results in perturbations and power loss around the maximum power point in steady-state operation. To reduce the power loss in steady-state operation and improve the response speed of MPPT, this study proposes a self-adaptable step size P&amp;O-based MPPT algorithm with infinitesimal perturbations. This algorithm combines four techniques to upgrade the response speed and reduce the power loss: (1) system operation state determination, (2) perturbation direction decision, (3) adaptable step size, and 4) natural oscillation control. The simulation results validate the proposed algorithm and illustrate its performances in operational procedures.

Specificity and variability of trunk kinematics on a mechanical horse

As perturbation training is gaining popularity, it is important to better understand postural control during complex three-dimensional stimuli. One clinically relevant and commonly used three-dimensional stimulus is found in hippotherapy and simulated hippotherapy on a mechanical horse. We tested nine healthy participants on a horse simulator, measured head and trunk kinematics, and characterized data in time (root-mean-square and variability) and frequency (amplitude spectra, gains, and phases) domains. We addressed three fundamental questions: 1) What is the specificity of postural responses to the simulator? 2) Which plane of motion is associated with the most and least variability (repeatable movements across repeated stimuli and across participants)? 3) To what extent are postural responses influenced by different degrees of stability (addition of pelvis straps and trunk support)? We found head and trunk responses were highly specific to the three-dimensional simulator perturbation direction and frequency. Frontal plane responses had the least variability across repetitions and participants whereas transverse motion was most variable. Head motion was more variable than the trunk at low frequencies and exhibited a marked decrease in tilt in the sagittal plane. Finally, the inclusion of pelvis straps had minimal effect on kinematics at low frequencies but altered higher frequencies; whereas added trunk support reduced head and trunk responses to perturbations and altered timing characteristics in all three planes. In conclusion, the present study suggests that frontal plane motion was under a high level of control, and results support the idea that specific head and trunk postural responses can be elicited from a complex three-dimensional stimuli, such as those found in hippotherapy. Researchers and clinicians can use results from this study to help interpret variability, implement mechanical adjustments to stability, and assess responses in pathological populations.

Perturbation-Based Balance Training to Improve Step Quality in the Chronic Phase After Stroke: A Proof-of-Concept Study.

Introduction: People with stroke often have impaired stepping responses following balance perturbations, which increases their risk of falling. Computer-controlled movable platforms are promising tools for delivering perturbation-based balance training under safe and standardized circumstances.Purpose: This proof-of-concept study aimed to identify whether a 5-week perturbation-based balance training program on a movable platform improves reactive step quality in people with chronic stroke.Materials and Methods: Twenty people with chronic stroke received a 5-week perturbation-based balance training (10 sessions, 45 min) on a movable platform. As the primary outcome, backward, and forward reactive step quality (i.e., leg angle at stepping-foot contact) was assessed with a lean-and-release (i.e., non-trained) task at pre-intervention, immediately post-intervention, and 6 weeks after intervention (follow-up). Additionally, reactive step quality was assessed on the movable platform in multiple directions, as well as, the percentage side steps upon sideward perturbations. To ensure that changes in the primary outcome could not solely be attributed to learning effects on the task due to repeated testing, 10 randomly selected participants received an additional pre-intervention assessment, 6 weeks prior to training. Clinical assesments included the 6-item Activity-specific Balance Confidence (6-ABC) scale, Berg Balance Scale (BBS), Trunk Impairment Scale (TIS), 10-Meter Walking Test (10-MWT), and Timed Up and Go-test (TUG).Results: After lean-and-release, we observed 4.3° and 2.8° greater leg angles at post compared to pre-intervention in the backward and forward direction, respectively. Leg angles also significantly improved in all perturbation directions on the movable platform. In addition, participants took 39% more paretic and 46% more non-paretic side steps. These effects were retained at follow-up. Post-intervention, BBS and TIS scores had improved. At follow-up, TIS and 6-ABC scores had significantly improved compared to pre-intervention. No significant changes were observed between the two pre-intervention assessments (n=10).Conclusion: A 5-week perturbation-based balance training on a movable platform appears to improve reactive step quality in people with chronic stroke. Importantly, improvements were retained after 6 weeks. Further controlled studies in larger patient samples are needed to verify these results and to establish whether this translates to fewer falls in daily life.Trial registration: The Netherlands National Trial Register (NTR3804). http://www.trialregister.nl/trialreg/admin/rctview.aspTC=3804

Lower extremity joint-level responses to pelvis perturbation during human walking

The human leg joints play a major role in balance control during walking. They facilitate leg swing, and modulate the ground (re)action forces to prevent a fall. The aim of this study is to provide and explore data on perturbed human walking to gain a better understanding of balance recovery during walking through joint-level control. Healthy walking subjects randomly received anteroposterior and mediolateral pelvis perturbations at the instance of toe-off. The open-source modeling tool OpenSim was used to perform inverse kinematics and inverse dynamics analysis. We found hip joint involvement in accelerating and then halting leg swing, suggesting active preparation for foot placement. Additionally, responses in the stance leg’s ankle and hip joints contribute to balance recovery by decreasing the body’s velocity in the perturbation direction. Modulation also occurs in the plane perpendicular to the perturbation direction, to safeguard balance in both planes. Finally, the recorded muscle activity suggests both spinal and supra-spinal mediated contributions to balance recovery, scaling with perturbation magnitude and direction. The presented data provide a unique and multi-joint insight in the complexity of both frontal and sagittal plane balance control during human walking in terms of joint angles, moments, and power, as well as muscle EMG responses.

Adaptation of perturbation to postural control in individuals with diabetic peripheral neuropathy

Loss of sensation in the feet due to diabetic peripheral neuropathy can cause deterioration of postural control and result in higher risk of trips, slips or falls. In the literature, many studies have reported that people with diabetic peripheral neuropathy tend to show greater displacement of body sway than normal people when the base of support is disrupted. But not much is known about postural characteristics of diabetics with peripheral neuropathy at the moment of postural stability disruptions and during the time span for recovering stability. The objective of this study was to analyze differences of postural characteristics between diabetics with peripheral neuropathy and diabetics without peripheral neuropathy. A learning effect of perturbation was found for the diabetic peripheral neuropathy group in the posterior direction of perturbation during the first phase, which may indicate that it could be possible to design a postural control program for those people.

Counteracting Postural Perturbations Through Body Weight Shift: a Pilot Study Using a Robotic Platform in Subjects with Parkinson's Disease.

Abnormalities of body-weight transfer occur during several motor tasks in people with Parkinson's disease (PwPD). In this study, a novel robotic paradigm for assessment and training of dynamic balance was developed and applied to twelve healthy subjects (HS) and ten PwPD to verify its feasibility and to assess the capability of PwPD to counteract postural perturbations through body-weight shifts. At variance with other robotic paradigms, subjects had to react as fast as possible to the perturbation, bringing the platform back to the horizontal and keeping it until the end of the task. Four randomized perturbations, obtained varying the platform equilibrium angle from 0° to ±6° in sagittal (backward, forward) and frontal (right, left) planes, were repeated 3 times. Compared to HS, PwPD showed, in all perturbation directions, increased delay in counteraction phase onset (p<=0.01), prolonged time to stabilize the platform (p<=0.02), and higher deviation of the final plate inclination from the horizontal (p<=0.04), the deviation being larger during sagittal perturbations. PwPD showed also larger (p=0.01) postural sway around the stabilization angle following frontal perturbations. Results are in keeping with known hypo- and bradykinesia as well as proprioceptive and kinesthetic impairments in PD. We suggest that the proposed approach is feasible and might be included in balance evaluation and training in PD.