A treadmill and motion coupled virtual reality system for gait training post-stroke.

A virtual reality (VR)-based locomotor training system has been developed for gait rehabilitation post-stroke. The system consists of a self-paced treadmill mounted onto a 6-degrees-of-freedom motion platform. Virtual environments (VEs) that are synchronized with the speed of the treadmill and the motions of the platform are rear-projected onto a screen in front of the walking subject. A feasibility study was conducted to test the capability of two stroke patients and one healthy control to be trained with the system. Three VE scenarios (corridor walking, street crossing, and park stroll) were woven into a gait-training program that provided three levels of complexity (walking speed, slopes, collision avoidances), progression criteria (number of successful trials) and knowledge of results. Results show that, with practice, patients can effectively increase their gait speed as demanded by the task and adapt their gait with respect to the change in physical terrain. However, successful completion of tasks requiring adaptation to increasing demands related to speed and physical terrains does not necessarily predict the patient's ability to anticipate and avoid collision with obstacles during walking. This feasibility study demonstrates that persons with stroke are able to adapt to this novel VR system and be immersed in the VEs for gait training.     

Gait training facilitates push-off and improves gait symmetry in children with cerebral palsy

BackgroundHuman walking involves a rapid and powerful contraction of ankle plantar flexors during push-off in late stance.ObjectiveHere we investigated whether impaired push-off force contributes to gait problems in children with cerebral palsy (CP) and whether it may be improved by intensive gait training.MethodsSixteen children with CP (6–15 years) and fourteen typically developing (TD) children (4–15 years) were recruited. Foot pressure was measured by insoles and gait kinematics were recorded by 3-dimensional video analysis during treadmill and overground walking. The peak derivative of ground reaction force at push off (dPF) was calculated from the foot pressure measurements. Maximal voluntary plantar flexion (MVC) was measured while seated. Measurements were performed before and after a control period and after 4 weeks of 30 minutes daily inclined treadmill training.ResultsdPF and MVC were significantly lower in children with CP on the most affected (MA) as compared to TD children (p < .001). dPF was lower on the MA leg as compared to the less affected (LA) leg in children with CP (p < .05). Following gait training, increases in dPF (p < .001) and MVC (p < .01) were observed for the MA leg. Following gait training children with CP showed similar timing of dPF and similar stance phase duration on both legs indicating improved symmetry of gait. These effects were also shown during overground walking.ConclusionImpaired ability to voluntarily activate ankle plantar flexors and produce a rapid and powerful push-off during late stance are of importance for impaired gait function in children with CP. Intensive treadmill training may facilitate the drive to ankle plantar flexors and reduce gait asymmetry during both treadmill and overground walking.     

A foot-pointing task and spatiotemporal gait parameters during walking in sportsmen

Unlike many sports, karate imposes pointing to a target with the lower limb. The nature of each sport could influence gait variables of sportsmen. The aim of this study was to examine the pointing accuracy of limb swing and the spatial and temporal parameters of the walking cycle during walking in karate experts (Group K, n=6) compared to accuracy of nonkarate sportsmen (Group S, n = 11). The second aim of this study was to compare the influence of this skill on the spatial and temporal parameters of the walking cycle between the two groups. The analysis was performed with a device composed of a gait analysis system (locometer) coupled to a lighted walkway. This system provides a measurement of the motor skill and the spatial and temporal gait during walking. Analysis for the pointing task indicated no differences between the Karate and the Sportsmen Groups during walking. Moreover, neither the spatial nor temporal characteristics of walking differed between the two groups. Karate does not therefore seem to develop motor programs specific to enhanced performance on this pointing task during walking or alter the walking cycle as compared to some other competitive sports.     

Investigating the efficacy of a tactile feedback system to increase the gait speed of older adults

The objective of this study was to determine (1) if a novel haptic feedback system could increase the walking speed of older adults while it is being employed during overground walking and (2) whether the frequency at which this feedback was presented would have a differential impact on the ability of users to change walking speed while it was present. Given that peak thigh extension has been found to be a biomechanical surrogate for stride length, and consequently gait speed, vibrotactile haptic feedback was provided to the participants' thighs as a cue to increase peak thigh extension while the effect on gait speed was monitored. Ten healthy community-dwelling older adults (68.4 ± 4.1 years) participated. Participants' peak thigh extension, cadence, normalized stride length and velocity, along with their coefficients of variation (COV) were compared across baseline normal and fast walking (with no feedback) and three different frequency of feedback conditions. The findings indicated that, compared to self-selected normal and fast walking speeds, peak thigh extension was significantly increased when feedback was present and after it was withdrawn in a post-test. An increase in thigh extension led to an increase in stride length and, consequently, an increase in stride velocity compared to normal speed. There were no significant differences in the gait parameters as a function of feedback frequency during its application. In conclusion, while present, the haptic feedback system increased thigh extension and walking speed in older adults regardless of the feedback frequency and when the feedback was withdrawn, participants could maintain an increase in those parameters.     

The Assessment of Spatial Orientation Using Virtual Reality Techniques

Visual-spatial ability has been identified as one of the primary factors of intelligence. Numerous tests, including paper-and-pencil tasks and laboratory experiments, have attempted to provide an accurate measure of this ability. However, the majority of these tests serve only as surrogate measures of visual-spatial ability and may not provide a precise prediction of the individuals' performance in a real environment. We propose a new approach for evaluating spatial ability. In this article, we introduce the use of virtual reality (VR) or virtual environments (VEs) as a new method to measure human spatial orientation. We then discuss the advantages of using VR or VE over traditional measures. We also comment on their limitations and their future direction.     

Gaze direction affects walking speed when using a self-paced treadmill with a virtual reality environment

BackgroundIn a previous study it was observed that participants increase their walking speed during a dual task while walking on a self-paced treadmill in a virtual reality (VR) environment (Gait Real time Analysis Interactive Lab (GRAIL)). This observation is in contrast with the limited resources hypothesis, which suggests walking speed of healthy persons to decrease when performing a cognitive dual task.AimThe aim of the present study was therefore to determine whether the cognitive demand of the task, an aroused feeling, discrepancy in optic flow or a change in gaze direction caused participants to walk faster in this computer assisted rehabilitation environment.MaterialsThe GRAIL included a self-paced treadmill, a motion-capture system and synchronized VR environments.MethodsThirteen healthy young adults (mean age 21.6 ± 2.5) were included in this study. Participants walked on the self-paced treadmill while seven different intervention conditions (IC) were offered. Prior to each IC, a control condition (CC) was used to determine the natural self-selected walking speed. Walking speed during the last 30 s of each IC was compared with the walking speed during the last 30 s of the preceding CC.ResultsResults show that the height on which a visual task was presented in the VR environment, influenced walking speed. Participants walked faster when gaze was directed above the focus of expansion.SignificanceThese findings contribute to a further understanding of the differences between walking in a real life environment or computer assisted rehabilitation environment. When analyzing gait on a self-paced treadmill in the future, one must be attentive where to place a visual stimulus in the VR environment.     

Exploring gait adaptations to perturbed and conventional treadmill training in Parkinson’s disease: Time-course,sustainability, and transfer

BackgroundGait impairment is a major motor symptom in Parkinson’s disease (PD), and treadmill training is an effective non-pharmacological treatment option.Research questionIn this study, the time course, sustainability and transferability of gait adaptations to treadmill training with and without additional postural perturbations were investigated.Methods38 PD patients (Hoehn & Yahr 1–3.5) were randomly allocated to eight weeks of treadmill training, performed twice-weekly for 40 min either with (perturbation treadmill training [PTT], n = 18) or without (conventional treadmill training [CTT], n = 20) additional perturbations to the treadmill surface. Spatiotemporal gait parameters were assessed during treadmill walking on a weekly basis (T0–T8), and after three months follow-up (T9). Additional overground gait analyses were performed at T0 and T8 to investigate transfer effects.ResultsTreadmill gait variability reduced linearly over the course of 8 weeks in both groups (p < .001; Cohen’s d (range): −0.53 to −0.84). Only the PTT group significantly improved in other gait parameters (stride length/time, stance-/swing time), with stride time showing a significant between-group interaction effect (Cohen’s d = 0.33; p = .05). Additional between-group interactions indicated more sustained improvements in stance (Cohen’s d = 0.85; p = .02) and swing time variability in the PTT group (Cohen’s d = 0.82; p = .03) at T9. Overground gait improvements at T8 existed only in stance (d = -0.73; p = .04) and swing time (d = 0.73; p = .04).DiscussionTreadmill stride-to-stride variability reduced substantially and linearly, but transfer to overground walking was limited. Adding postural perturbations tended to increase efficacy and sustainability of several gait parameters. However, since between-group effects were small, more work is necessary to support these findings.     

The Human Body Model versus conventional gait models for kinematic gait analysis in children with cerebral palsy

With the rise of biofeedback in gait training in cerebral palsy there is a need for real-time measurements of gait kinematics. The Human Body Model (HBM) is a recently developed model, optimized for the real-time computing of kinematics. This study evaluated differences between HBM and two commonly used models for clinical gait analysis: the Newington Model, also known as Plug-in-Gait (PiG), and the calibrated anatomical system technique (CAST). Twenty-five children with cerebral palsy participated. 3D instrumented gait analyses were performed in three laboratories across Europe, using a comprehensive retroreflective marker set comprising three models: HBM, PiG and CAST. Gait kinematics from the three models were compared using statistical parametric mapping, and RMSE values were used to quantify differences. The minimal clinically significant difference was set at 5°. Sagittal plane differences were mostly less than 5°. For frontal and transverse planes, differences between all three models for almost all segment and joint angles exceeded the value of minimal clinical significance. Which model holds the most accurate information remains undecided since none of the three models represents a ground truth. Meanwhile, it can be concluded that all three models are equivalent in representing sagittal plane gait kinematics in clinical gait analysis.     

Individual differences in spatial learning from computer-simulated environments

A multivariate study examined relationships between the following factors: paper-and-pencil assessments of verbal and spatial ability, ability to form an accurate spatial representation of a large real-world environment, gender, computer attitudes and experience, proficiency with the navigational interface of a virtual environment (VE), and the ability to acquire and transfer spatial knowledge from a VE. Psychometrically assessed spatial ability and proficiency with the navigational interface were found to make substantial contributions to individual differences in the ability to acquire spatial information from a VE. Gender influenced many VE-related tasks, primarily through its relationship with interface proficiency and spatial ability. Measures of spatial knowledge of a VE maze were highly predictive of subsequent performance in a similar real-world maze, suggesting that VEs can be useful for training people about real-world spaces.     

Coordination of symmetrical and asymmetrical human gait

Most human gait forms assume symmetrical, alternating patterns of interlimb coordination (e.g., crawling, walking, running). Human galloping is a notable exception. In contrast to extensive information on galloping in animals, little is known about this gait in humans. Therefore, kinematic and topographical analyses of running and galloping were undertaken to investigate the manner in which the lower limbs are uncoupled to produce this asymmetrical gait. Seven adult females were filmed while running and galloping at their preferred speed. Analysis of the gaits revealed differences in the following: (a) preferred speed, (b) coupling between upper- and lower-limb girdles, and (c) point of foot fall (end-point trajectories). In contrast to clear differences in interlimb coordination, intralimb coordination was remarkably similar across gaits, although when galloping was adopted, the rear leg did show more variable change than the front leg.     

Head flexion and different walking speeds do not affect gait stability in older females

Head flexion is destabilizing in older individuals during quiet stance, yet the effect head flexion has on gait is not known. The study examined whether head flexion and gait parameters were altered when walking freely and fixed to a visual target, at different walking speeds. 15 young (23 ± 4 years) and 16 older (76 ± 6 years) healthy females walked at three different walking speeds (slow, comfortable, and fast) under two visual conditions (natural and fixed [focusing on a visual target set at eye level]). Head flexion was assessed using 2D video analysis, whilst gait parameters (step length, double support time, step time, and gait stability ratio) were recorded during a 9 m flat walkway. A mixed design ANOVA was performed for each variable, with age as the between-subject factor and, visual condition and walking speed as within-subject factors. When walking freely, older displayed a greater need for head flexion between walking speeds (P < 0.05) when compared to young. Walking under fixed condition reduced head flexion at all walking speeds in the older (P < 0.05), but had no effect on the young (P > 0.05). Walking at different speeds showed no difference in head flexion when walking under either visual condition and had no effect on gait stability for both groups. Despite older displaying differences in head flexion between visual conditions, there was no effect on gait parameters. Walking speed presented trivial difference in head flexion in older females, whilst overall gait stability was unaffected by different walking speeds.     

Side by side treadmill walking reduces gait asymmetry induced by unilateral ankle weight

Asymmetric gait is a hallmark of many neurological and musculoskeletal conditions. This behavior is often the result of a decrease in the stability of interlimb coordination, and synchronization to external signals such as auditory cuing or another walking individual may be helpful for altering abnormal movement patterns. The purpose of this study was to investigate the interaction between interlimb coordination and unintentional, interpersonal synchronization of gait in healthy individuals in response to unilateral ankle loading. Fifty participants completed four trials while walking on a motorized treadmill: (1) by themselves, (2) with a partner on an adjacent treadmill, (3) by themselves with additional weight applied unilaterally to their right ankle, and (4) with both a partner and unilateral weight. As expected, the addition of unilateral weight increased asymmetry according to several spatiotemporal measures of gait, but the presence of a partner on an adjacent treadmill significantly reduced this effect. Further, the amount of unintentional, interpersonal synchronization among pairings was relatively unaffected by the addition of ankle weight to one of the partners. All pairings realized a beneficial effect on asymmetrical gait but this effect was greater for pairings that consistently synchronized unintentionally. These results suggest that side by side walking might be an effective approach for influencing bilateral coordination of gait and may hold insight for understanding gait asymmetry and interlimb movement variability.     

Using a virtual reality system to study balance and walking in a virtual outdoor environment: a pilot study.

Falls and fall-related injuries are a major problem for elderly persons. Most falls occur during walking and turning, and the risk of falling increases when attention is diverted to something besides walking. It is often difficult to standardize methods for testing balance and fall tendency in a clinically relevant setting. We describe the development of a system using a virtual environment (VE) to assess how attention demanding and unexpected events influence a person's capacity to control balance and movement. The hardware in the system consists of a head-mounted display (HMD), a magnetic tracker system, and two SGI computers. The software consists of the image generation of the VE and the management and visualization of motion tracking data. In a preliminary pilot study eight subjects (age 23-80) participated. Each subject walked on a normal floor and was visually presented a familiar outdoor environment in the HMD. They were exposed to different unexpected events, such as a virtual snowfall and tilting of the VE. Disturbances of balance and walking patterns such as changes in speed, stride length and balance reactions like slipping were observed. Two subjects experienced symptoms of cyber sickness with a SSQ score above 25 points. Walking with sensors only did not affect walking time, but in VE the subjects generally walked more slowly. Virtual tilting of the environment had an impact on balance performance during walking. This effect was not observed while the test subjects were walking in a virtual snowfall. The model needs further development but may hold a potential for clinical use.     

Effects of dichotic listening on gait domains of healthy older adults during dual-tasking: An exploratory observational study

BackgroundIdentification of the cognitive mechanisms behind gait changes in aging is a prime endeavor in gerontology and geriatrics. For this reason, we have implemented a new dual-task paradigm where an auditory attentional task is performed during over-ground walking. Dichotic listening assesses spontaneous attention and voluntary attention directed to right and left-ear. The uniqueness of dichotic listening relies on its requirements that vary in difficulty and recruitment of resources from whole brain to one brain hemisphere. When used in dual-tasking, asymmetric effects on certain gait parameters have been reported.ObjectivesThe present study aims to acquire a more global understanding on how dichotic listening affects gait domains. Specifically, we aimed to understand how spontaneous vs lateralized auditory attention altered the Principal Component Analysis (PCA) structure of gait in healthy older adults.MethodsSeventy-eight healthy older adults (mean age: 71.1 years; 44 women and 34 men) underwent the Bergen dichotic listening test while walking. As this study only focuses on the effects of the cognitive task on gait, only dual-task costs for gait were calculated and entered into the PCA analyses. We explored the PCA structure for the effects on bilateral gait parameters (i.e., both limbs together) as well as on lateralized gait parameters (i.e, separate parameters by limb). We first established gait domains during single-task walking. Then, dual-task cost scores for gait were entered in a series of PCAs.ResultsResults from the PCAs for bilateral gait parameters showed limited alterations on gait structure. In contrast, PCAs for lateralized data demonstrated modifications of the gait structure during dichotic listening. The PCAs corresponding for all dichotic listening conditions showed different factor solutions ranging between 4 and 6 factors that explained between 73.8% to 80% of the total variance. As a whole, all conditions had an impact on “pace”, “pace variability” and “base of support variability” domains. In the spontaneous attention condition, a six-factor solution explaining 78.3% of the variance showed asymmetrical disruptions on the PCA structure. When attention was focused to right-ear, a five-factor solution explaining 89% of the variance and similar to baseline was found. When attention was directed to left-ear, a four-factor solution explaining 73.8% of the variance was found with symmetrical impact on all factors.ConclusionsThese findings demonstrate for the first time that specific facets of attentional control affects gait domains both symmetrically and asymmetrically in healthy older adults.     

Comparison of grasping movements made by healthy subjects in a 3-dimensional immersive virtual versus physical environment

Virtual reality (VR) technology is being used with increasing frequency as a training medium for motor rehabilitation. However, before addressing training effectiveness in virtual environments (VEs), it is necessary to identify if movements made in such environments are kinematically similar to those made in physical environments (PEs) and the effect of provision of haptic feedback on these movement patterns. These questions are important since reach-to-grasp movements may be inaccurate when visual or haptic feedback is altered or absent. Our goal was to compare kinematics of reaching and grasping movements to three objects performed in an immersive three-dimensional (3D) VE with haptic feedback (cyberglove/grasp system) viewed through a head-mounted display to those made in an equivalent physical environment (PE). We also compared movements in PE made with and without wearing the cyberglove/grasp haptic feedback system. Ten healthy subjects (8 women, 62.1 ± 8.8 years) reached and grasped objects requiring 3 different grasp types (can, diameter 65.6 mm, cylindrical grasp; screwdriver, diameter 31.6 mm, power grasp; pen, diameter 7.5 mm, precision grasp) in PE and visually similar virtual objects in VE. Temporal and spatial arm and trunk kinematics were analyzed. Movements were slower and grip apertures were wider when wearing the glove in both the PE and the VE compared to movements made in the PE without the glove. When wearing the glove, subjects used similar reaching trajectories in both environments, preserved the coordination between reaching and grasping and scaled grip aperture to object size for the larger object (cylindrical grasp). However, in VE compared to PE, movements were slower and had longer deceleration times, elbow extension was greater when reaching to the smallest object and apertures were wider for the power and precision grip tasks. Overall, the differences in spatial and temporal kinematics of movements between environments were greater than those due only to wearing the cyberglove/grasp system. Differences in movement kinematics due to the viewing environment were likely due to a lack of prior experience with the virtual environment, an uncertainty of object location and the restricted field-of-view when wearing the head-mounted display. The results can be used to inform the design and disposition of objects within 3D VEs for the study of the control of prehension and for upper limb rehabilitation.     

Virtual environment training system for rehabilitation of stroke patients with unilateral neglect: crossing the virtual street.

In this paper, we propose a system for training of stroke patients with unilateral neglect by using technology of virtual reality (VR). The proposed system is designed to compensate for unilateral neglect. This system contains the calibration of unilateral neglect and the training of this disease. The calibration procedure is implemented by aligning the virtual object at a subjective middle line. The training procedure is implemented by completing the missions that are used to keep the virtual avatar safe during crossing the street in a virtual environment. The results of this study show that the proposed system is effective to train unilateral neglect. The left to right ratio scores extracted from this system gradually decrease as the sessions of training are repeated. To validate the VR system parameters, the parameters are analyzed by correlation with those of traditional unilateral neglect assessment methods (such as the line bisection test and the cancellation test).     

Enhanced arm swing alters interlimb coordination during overground walking in individuals with traumatic brain injury

The current study investigated interlimb coordination in individuals with traumatic brain injury (TBI) during overground walking. The study involved 10 participants with coordination, balance, and gait abnormalities post-TBI, as well as 10 sex- and age-matched healthy control individuals. Participants walked 12 m under two experimental conditions: 1) at self-selected comfortable walking speeds; and 2) with instructions to increase the amplitude and out-of-phase coordination of arm swinging. The gait was assessed with a set of spatiotemporal and kinematic parameters including the gait velocity, step length and width, double support time, lateral displacement of the center of mass, the amplitude of horizontal trunk rotation, and angular motions at shoulder and hip joints in sagittal plane. Interlimb coordination (coupling) was analyzed as the relative phase angles between the left and right shoulders, hips, and contralateral shoulders and hips, with an ideal out-of-phase coupling of 180° and ideal in-phase coupling of 0°. The TBI group showed much less interlimb coupling of the above pairs of joint motions than the control group. When participants were required to increase and synchronize arm swinging, coupling between shoulder and hip motions was significantly improved in both groups. Enhanced arm swinging was associated with greater hip and shoulder motion amplitudes, and greater step length. No other significant changes in spatiotemporal or kinematic gait characteristics were found in either group. The results suggest that arm swinging may be a gait parameter that, if controlled properly, can improve interlimb coordination during overground walking in patients with TBI.     

Spatial knowledge of a real school environment acquired from virtual or physical models by able-bodied children and children with physical disabilities

In Experiment 1, 2 groups of able-bodied children were exposed to both a complex single-tier virtual environment (VE) and a physical model of a different environment. For 1 group, the VE accurately modeled a real school, and for the other group the physical model did so. In transfer testing in the real school, orientation accuracy was greater in the group exposed to the VE of the real school. In Experiment 2, children with physical disabilities explored the VE model of the real school and were tested as in the 1st experiment. Measures of orientation accuracy and map-placing were significantly better in this group than in the guessing adult control group. The results illustrate the potential for VEs as useful spatial training media.     

Selection of gait parameters during constrained walking

It is commonly thought that at prescribed speeds humans choose gait parameters that minimize the cost of transportation. However, it is unclear whether and how the relationship between step length and step frequency is affected by the additional physiological factors caused by constraints. We performed a series of experiments to understand the selection of gait parameters under different constraints from a probabilistic perspective. First, we show that the effect of constraining step length on step frequency (i.e., monotonically decrease, Experiment I) is different from the effect of constraining step frequency on step length (i.e., inverted-U, Experiment II). Using the results from Experiment I and II, we summarized the marginal distribution of step length and step frequency and built their joint distribution in a probabilistic model. The probabilistic model predicts the selection of gait parameters by achieving the maximum probability of joint distribution of step length and step frequency. In Experiment III, the probabilistic model could well predict gait parameters at prescribed speeds, and it is similar to minimizing the cost of transportation. Finally, we show that the distribution of step length and step frequency were completely different between constrained and non-constrained walking. We argue that constraints in walking are major factors determining how humans choose gait parameters due to their involvement of mediators, i.e., attention or active control. Using the probabilistic model to account for gait parameters has an advantage compared with fixed-parameter models in that it can still include the effect of hidden mechanical, neurophysiological, or psychological variables by grouping them into distribution curves.