Biology subjects

Sergi, F.

Publications and source records attributed to Sergi, F..

29 records · Page 2Linked to original sources

bioRxiv2020

Measurement of stretch-evoked brainstem function using fMRI

Knowledge on the organization of motor function in the reticulospinal tract (RST) is limited by the lack of methods for measuring RST function in humans. Behavioral studies suggest the involvement of the RST in long latency responses (LLRs). LLRs, elicited by precisely controlled perturbations, can therefore act as a viable paradigm to measure motor-related RST activity using functional Magnetic Resonance Imaging (fMRI). Here we present StretchfMRI, a novel technique developed to study RST function associated with LLRs. StretchfMRI combines robotic perturbations with electromyography and fMRI to simultaneously quantify muscular and neural activity during stretch-evoked LLRs without loss of reliability. Using StretchfMRI, we established the muscle-specific organization of LLR activity in the brainstem. The observed organization is partially consistent with animal models, with activity primarily in the ipsilateral medulla for flexors and in the contralateral pons for extensors, but also include other areas, such as the midbrain and bilateral pontomedullary contributions.

neuroscience↗

bioRxiv2020

Robot-aided Training of Propulsion During Walking: Effects of Torque Pulses Applied to the Hip and Knee Joints During Stance

The goal of this study is to evaluate the effects of the application of torque pulses to the hip and knee joint via a robotic exoskeleton in the context of training propulsion during walking. Based on our previous biomechanical study, we formulated a set of conditions of torque pulses applied to the hip and knee joint associated with changes in push-off posture, a component of propulsion. In this work, we quantified the effects of hip/knee torque pulses on metrics of propulsion, specifically hip extension (HE) and normalized propulsive impulse (NPI), in two experiments. In the first experiment, we exposed 16 participants to sixteen conditions of torque pulses during single strides to observe the immediate effects of pulse application. In the second experiment, we exposed 16 participants to a subset of those conditions to observe short-term adaptation effects. During pulse application, NPI aligned with the expected modulation of push-off posture, while HE was modulated in the opposite direction. The timing of the applied pulses, early or late stance, was crucial, as the effects were often in the opposite direction when changing timing condition. Extension torque applied at late stance increased HE in both experiments range of change in HE: (1.6 {+/-} 0.3 deg, 7.7 {+/-} 0.9 deg), p < 0.001). The same conditions resulted in a negative change in NPI only in the single pulse experiment -- change in NPI for knee torque: -2.9 {+/-} 0.3 ms, p < 0.001, no significant change for hip torque. Also, knee extension and flexion torque during early and late stance, respectively, increased NPI during single pulse application -- range of change in NPI: (3.4, 4.2) {+/-} 0.3 ms, p < 0.001). During repeated pulse application, NPI increased for late stance flexion torque -- range of change in NPI: (4.5, 4.8) {+/-} 2 ms, p < 0.001), but not late stance extension torque. Upon pulse torque removal, we observed positive after-effects in HE in all conditions. While there were no after-effects in NPI significant at the group level, a responder analysis indicated that the majority of the group increased both NPI and HE after pulse application.

bioengineering↗

bioRxiv2020

A Controlled Slip: Training Propulsion via Acceleration of the Trailing Limb

Walking function, which is critical to performing many activities of daily living, is commonly assessed by walking speed. Walking speed is dependent on propulsion, which is governed by ankle moment and the posture of the trailing limb during push-off. Here, we present a new gait training paradigm that utilizes a dual belt treadmill to train both components of propulsion by accelerating the belt of the trailing limb during push off. Accelerations require subjects to produce greater propulsive force to counteract inertial effects, and increase trailing limb angle through increased belt velocity. We hypothesized that exposure to our training p rogram would produce after effects in propulsion mechanics and, consequently, walking speed. We tested our protocol on healthy subjects at two acceleration magnitudes-Perceptible (PE), and Imperceptible, (IM)-and compared their results to a third control group (VC) that walked at a higher velocity during training. Results show that the PE group significantly increased walking speed following training (mean {+/-} s.e.m: 0.073 {+/-} 0.013 m/s, p < 0.001). The change in walking speed in the IM and VC groups was not significant at the group level (IM: 0.032 {+/-} 0.013 m/s; VC: -0.003 {+/-} 0.013 m/s). Responder analysis showed that changes in push-off posture and in neuro-motor control of ankle plantar-flexor muscles contributed to the larger increases in gait speed measured in the PE group compared to the IM and VC groups. Analysis of the effects during and after training suggest that changes in neuromotor coordination are consistent with use-dependent learning.

bioengineering↗

bioRxiv2019

StretchfMRI: a new technique to quantify the contribution of the reticular formation to long-latency responses via fMRI

Increased reticulospinal (RS) function has been observed to cause both positive and negative outcomes in the recovery of motor function after corticospinal lesions such as stroke. Current knowledge of RF function is limited by the lack of accurate, noninvasive methods for measuring RS function. Recent studies suggest that the RS tract may be involved in processing and generating Long Latency Responses (LLRs). LLRs, elicited by applying precisely controlled perturbations, can act as a reliable stimulus to measure LLR-related brainstem function using fMRI with high signal-to-noise ratio.\n\nIn this paper, we present StretchfMRI, a new technique that enables simultaneous recording of neural and muscular activity during motor responses conditioned by velocity-controlled robotic perturbations, which allows for direct investigation of the neural correlates of LLRs using fMRI.\n\nVia preliminary validation experiments, we demonstrate that our technique can reliably elicit and identify LLRs in two wrist muscles-FCR and ECU. Moreover, via a single-subject pilot experiment, we show that the occurrence of an LLR in a flexor and extensor muscle modulates neural activity in distinct regions of the brainstem. The observed somatotopic organization is in agreement with the double reciprocal model of RS function observed in animal models, in which the right medullary and left pontine reticular formation are responsible for control of the motor activity in flexors and extensors, respectively.

neuroscience↗

bioRxiv2019

Identifying the neural representation of fast and slow states in force field adaptation via fMRI

Neurorehabilitation is centered on motor learning and control processes, however our understanding of how the brain learns to control movements is still limited. Motor adaptation is a rapid form of motor learning that is amenable to study in the laboratory setting. Behavioral studies of motor adaptation have coupled clever task design with computational modeling to study the control processes that underlie motor adaptation. These studies provide evidence of fast and slow learning states in the brain that combine to control neuromotor adaptation.\n\nCurrently, the neural representation of these states remains unclear, especially for adaptation to changes in task dynamics, commonly studied using force fields imposed by a robotic device. Our group has developed the MR-Softwrist, a robot capable of executing dynamic adaptation tasks during functional magnetic resonance imaging (fMRI) that can be used to localize these networks in the brain.\n\nWe simulated an fMRI experiment to determine if signal arising from a switching force field adaptation task can localize the neural representations of fast and slow learning states in the brain. Our results show that our task produces reliable behavioral estimates of fast and slow learning states, and distinctly measurable fMRI activations associated with each state under realistic levels of behavioral and measurement noise. Execution of this protocol with the MR-Softwrist will extend our knowledge of how the brain learns to control movement.

bioengineering↗

bioRxiv2019

MM-MRE: a new technique to quantify individual muscle forces during isometric tasks of the wrist using MR elastography

Non-invasive in-vivo measurement of individual muscle force is limited by the infeasibility of placing force sensing elements in series with the musculo-tendon structures. At the same time, estimating muscle forces using EMG measurements is prone to inaccuracies, as EMG is not always measurable for the complete set of muscles acting around the joints of interest. While new methods based on shear wave elastography have been recently proposed to directly characterize muscle mechanics, they can only be used to measure muscle forces in a limited set of superficial muscles. As such, they are not suitable to study the neuromuscular control of movements that require coordinated action of multiple muscles.\n\nIn this work, we present multi-muscle magnetic resonance elastography (MM-MRE), a new technique capable of quantifying individual muscle force from the complete set of muscles in the forearm, thus enabling the study of the neuromuscular control of wrist movements. MM-MRE integrates measurements of joint torque provided by an MRI-compatible instrumented handle with muscle-specific measurements of shear wave speed obtained via MRE to quantify individual muscle force using model-based estimator.\n\nA single-subject pilot experiment demonstrates the possibility of obtaining measurements from individual muscles and establishes that MM-MRE has sufficient sensitivity to detect changes in muscle mechanics following the application of isometric joint torque with self-selected intensity.

bioengineering↗

bioRxiv2019

Training propulsion: Locomotor adaptation to accelerations of the trailing limb

Many stroke survivors suffer from hemiparesis, a condition that results in impaired walking ability. Walking ability is commonly assessed by walking speed, which is dependent on propulsive force both in healthy and stroke populations. Propulsive force is determined by two factors: ankle moment and the posture of the trailing limb during push-off. Recent work has used robotic assistance strategies to modulate propulsive force with some success. However, robotic strategies are limited by their high cost and the technical difficulty of fitting and operating robotic devices with stroke survivors in a clinical setting.\n\nWe present a new paradigm for goal-oriented gait training that utilizes a split belt treadmill to train both components of propulsive force generation, achieved by accelerating the treadmill belt of the trailing limb during push off. Belt accelerations require subjects to produce greater propulsive force to maintain their position on the treadmill and increases trailing limb angle through increased velocity of the accelerated limb.\n\nWe hypothesized that accelerations would cause locomotor adaptation that would result in measurable after effects in the form of increased propulsive force generation. We tested our protocol on healthy subjects at two levels of belt accelerations. Our results show that 79% of subjects significantly increased propulsive force generation, and that larger accelerations translated to larger, more persistent behavioral gains.

bioengineering↗

bioRxiv2019

Single-stride exposure to pulse torque assistance provided by a robotic exoskeleton at the hip and knee joints

Robot assisted gait retraining is an increasingly common method for supporting restoration of walking function after neurological injury. Gait speed, an indicator of walking function, is correlated with propulsive force, a measure modulated by the posture of the trailing limb at push-off. With the ultimate goal of improving efficacy of robot assisted gait retraining, we sought to directly target gait propulsion, by exposing subjects to pulses of joint torque applied at the hip and knee joints to modulate push-off posture. Our previous work investigated changes in joint moments associated with push-off posture modulation, which informed the composition of 16 joint torque pulse conditions.\n\nIn this work, we utilized a robotic exoskeleton to apply pulses of torque to the hip and knee joints, during individual strides, of 16 healthy control subjects, and quantified the effects of this intervention on hip extension and propulsive impulse during and after application of these pulses.\n\nWe observed significant effects in the outcome measures primarily at the stride of pulse application. Specifically, when pulses were applied at late stance, we observed a significant increase in propulsive impulse when knee and/or hip flexion pulses were applied and a significant increase in hip extension angle when hip extension torque pulses were applied. When pulses were applied at early stance, we observed a significant increase in propulsive impulse associated with hip extension torque.

bioengineering↗

bioRxiv2018

The effect of physiological and measurement noise on the estimate of individual muscle force from indirect measurements of muscle activity

Several forward dynamics estimators have been proposed to quantify individual muscle force using non-invasive measurements of muscle activity. None of them, however, addresses the inaccuracy that arises when measurements are available only from a subset of the muscles involved in the movement under analysis. We present a novel estimator that integrates a forward dynamics estimation approach with knowledge of the optimal contraction strategy to obtain accurate estimates of individual muscle force when measurements of muscle activity are not available for all muscles. A following in-silico characterization showed that when trying to estimate forces form the forearm muscles acting around the wrist joint, our novel estimator is able to decrease the mean estimation bias by about 25% of the true value of muscle force. With a sensitivity analysis, we show that the model-based estimator is robust against physiological variability in muscle co-contraction strategy.

bioengineering↗

bioRxiv2018

The effect of stride length on lower extremity joint kinetics at various gait speeds

Robot-assisted training is a promising tool under development for improving walking function based on repetitive goal-oriented task practice. The challenges in developing the controllers for gait training devices that promote desired changes in gait is complicated by the limited understanding of the human response to robotic input. A possible method of controller formulation can be based on the principle of bio-inspiration, where a robot is controlled to apply the change in joint moment applied by human subjects when they achieve a gait feature of interest. However, it is currently unclear how lower extremity joint moments are modulated by even basic gaitspatio-temporal parameters.\n\nIn this study, we investigated how sagittal plane joint moments are affected by a factorial modulation of two important gait parameters: gait speed and stride length. We present the findings obtained from 20 healthy control subjects walking at various treadmill-imposed speeds and instructed to modulate stride length utilizing real-time visual feedback. Implementing a continuum analysis of inverse-dynamics derived joint moment profiles, we extracted the effects of gait speed and stride length on joint moment throughout the gait cycle. Moreover, we utilized a torque pulse approximation analysis to determine the timing and amplitude of torque pulses that approximate the difference in joint moment profiles between stride length conditions, at all gait speed conditions.\n\nOur results show that gait speed has a significant effect on the moment profiles in all joints considered, while stride length has more localized effects, with the main effect observed on the knee moment during stance, and smaller effects observed for the hip joint moment during swing and ankle moment during the loading response. Moreover, our study demonstrated that trailing limb angle, a parameter of interest in programs targeting propulsion at push-off, was significantly correlated with stride length. As such, our study has generated assistance strategies based on pulses of torque suitable for implementation via a wearable exoskeleton with the objective of modulating stride length, and other correlated variables such as trailing limb angle.

bioengineering↗

bioRxiv2018

Model-based analysis of the stiffness of the wrist joint in active and passive conditions

The control of joint stiffness is a fundamental mechanism used to control human movements. While many studies have observed how stiffness is controlled for tasks involving shoulder and elbow motion, a limited amount of knowledge is available for wrist movements, though the wrist plays a crucial role in fine manipulation.\n\nWe have developed a computational framework based on a realistic musculoskeletal model, which allows to calculate the passive and active components of the wrist joint stiffness. We first used the framework to validate the musculoskeletal model against experimental measurements of the passive wrist joint stiffness, and then to study the contribution of different muscle groups on the passive joint stiffness. We finally used the framework to study the effect of muscle co - contraction on the active joint stiffness.\n\nThe results show that thumb and finger muscles play a crucial role in determining the passive wrist joint stiff - ness: in the neutral posture, the direction of maximum stiffness aligns with the experimental measurements, and the magnitude increases by 113% when they are included. Moreover, the analysis of the controllability of joint stiffness showed that muscle co - contraction positively correlates with the stiffness magnitude and negatively correlates with the variability of the stiffness orientation (p < 0.01 in both cases). Finally, an exhaustive search showed that with appropriate selection of a muscle activation strategy, the joint stiffness orientation can be arbitrarily modulated. This observation suggests the absence of biomechanical constraints on the controllability of the orientation of the wrist joint stiffness.

bioengineering↗