Relative Contributions of Balance and Voluntary Leg-Coordination Deficits to Cerebellar Gait Ataxia

2003 ◽  
Vol 89 (4) ◽  
pp. 1844-1856 ◽  
Author(s):  
Susanne M. Morton ◽  
Amy J. Bastian

Different cerebellar regions participate in balance control and voluntary limb coordination, both of which might be important for normal bipedal walking. We wanted to determine the relative contributions of balance versus leg-coordination deficits to cerebellar gait ataxia in humans. We studied 20 subjects with cerebellar damage and 20 control subjects performing three tasks: a lateral weight-shifting task to measure balance, a visually guided stepping task to measure leg- coordination, and walking. We recorded three-dimensional joint position data during all tasks and center of pressure coordinates during weight-shifting. Each cerebellar subject was categorized as having no detectable deficits, a balance deficit only, a leg-placement deficit only, or both deficits. We then determined the walking abnormalities associated with each of these categories. Five of 10 measures of gait ataxia were abnormal in cerebellar subjects with a balance deficit, but only 1 was abnormal in cerebellar subjects with a leg-placement deficit. Furthermore, subjects with a balance deficit performed worse than subjects with a leg-placement deficit on 9 of the 10 gait measures. Finally, performance on the balance task, but not the leg-placement task, explained a significant proportion of the variance in walking speed for the entire cerebellar group. We conclude that balance deficits are more closely related to cerebellar gait ataxia than leg-placement deficits. Our findings are consistent with animal literature, which has suggested that cerebellar control of balance and gait are interrelated, and dissociable from cerebellar control of voluntary, visually guided limb movements.

PLoS ONE ◽  
2016 ◽  
Vol 11 (3) ◽  
pp. e0151393 ◽  
Author(s):  
Michael W. Kennedy ◽  
Charles R. Crowell ◽  
Michael Villano ◽  
James P. Schmiedeler

Robotics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 89 ◽  
Author(s):  
Giuseppe Menga ◽  
Marco Ghirardi

The zero moment point ( Z M P ) and the linearized inverted pendulum model linking the Z M P to the center of gravity ( C O G ) have an important role in the control of the postural equilibrium (balance) of biped robots and lower-limb exoskeletons. A solution for balance real time control, closing the loop from the joint actual values of the C O G and Z M P , has been proposed by Choi. However, this approach cannot be practically implemented: While the Z M P actual value is available from the center of pressure ( C o P ) measured under the feet soles, the C O G is not measurable, but it can only be indirectly assessed from the joint-angle measures, the knowledge of the kinematics, and the usually poorly known weight distribution of the links of the chain. Finally, the possible presence of unknown external disturbance forces and the nonlinear, complex nature of the kinematics perturb the simple relationship between the Z M P and C O G in the linearized model. The aim of this paper is to offer, starting from Choi’s model, a practical implementation of closed-loop balance control fusing C o P and joint-angle measures, eliminating possible inconsistencies. In order to achieve this result, we introduce a model of the linearized inverted pendulum for an extended estimation, not only of C O G and Z M P , but also of external disturbances. This model is then used, instead of Choi’s equations, for estimation and balance control, using H ∞ theory. As the C O G information is recovered from the joint-angle measures, the identification of a statistically equivalent serial chain ( S E S C ) linking the C O G to the joint angles is also discussed.


Healthcare ◽  
2020 ◽  
Vol 8 (4) ◽  
pp. 402 ◽  
Author(s):  
Juan De la Torre ◽  
Javier Marin ◽  
Marco Polo ◽  
José J. Marín

Balance disorders have a high prevalence among elderly people in developed countries, and falls resulting from balance disorders involve high healthcare costs. Therefore, tools and indicators are necessary to assess the response to treatments. Therefore, the aim of this study is to detect relevant changes through minimal detectable change (MDC) values in patients with balance disorders, specifically with vertigo. A test-retest of a static and dynamic balance test was conducted on 34 healthy young volunteer subjects using a portable stabilometric platform. Afterwards, in order to show the MDC applicability, eight patients diagnosed with balance disorders characterized by vertigo of vestibular origin performed the balance test before and after a treatment, contrasting the results with the assessment by a specialist physician. The balance test consisted of four tasks from the Romberg test for static balance control, assessing dynamic postural balance through the limits of stability (LOS). The results obtained in the test-retest show the reproducibility of the system as being similar to or better than those found in the literature. Regarding the static balance variables with the lowest MDC value, we highlight the average velocity of the center of pressure (COP) in all tasks and the root mean square (RMS), the area, and the mediolateral displacement in soft surface, with eyes closed. In LOS, all COP limits and the average speed of the COP and RMS were highlighted. Of the eight patients assessed, an agreement between the specialist physician and the balance test results exists in six of them, and for two of the patients, the specialist physician reported no progression, whereas the balance test showed worsening. Patients showed changes that exceeded the MDC values, and these changes were correlated with the results reported by the specialist physician. We conclude that (at least for these eight patients) certain variables were sufficiently sensitive to detect changes linked to balance progression. This is intended to improve decision making and individualized patient monitoring.


Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7216
Author(s):  
Wei Yang ◽  
Jiyu Zhang ◽  
Sheng Zhang ◽  
Canjun Yang

With the help of wearable robotics, the lower limb exoskeleton becomes a promising solution for spinal cord injury (SCI) patients to recover lower body locomotion ability. However, fewer exoskeleton gait planning methods can meet the needs of patient in real time, e.g., stride length or step width, etc., which may lead to human-machine incoordination, limit comfort, and increase the risk of falling. This work presents a human-exoskeleton-crutch system with the center of pressure (CoP)-based gait planning method to enable the balance control during the exoskeleton-assisted walking with crutches. The CoP generated by crutches and human-machine feet makes it possible to obtain the overall stability conditions of the system in the process of exoskeleton-assisted quasi-static walking, and therefore, to determine the next stride length and ensure the balance of the next step. Thus, the exoskeleton gait is planned with the guidance of stride length. It is worth emphasizing that the nominal reference gait is adopted as a reference to ensure that the trajectory of the swing ankle mimics the reference one well. This gait planning method enables the patient to adaptively interact with the exoskeleton gait. The online gait planning walking tests with five healthy volunteers proved the method’s feasibility. Experimental results indicate that the algorithm can deal with the sensed signals and plan the landing point of the swing leg to ensure balanced and smooth walking. The results suggest that the method is an effective means to improve human–machine interaction. Additionally, it is meaningful for the further training of independent walking stability control in exoskeletons for SCI patients with less assistance of crutches.


2013 ◽  
Vol 110 (11) ◽  
pp. 2557-2562 ◽  
Author(s):  
Jarmo M. Piirainen ◽  
Vesa Linnamo ◽  
Neil J. Cronin ◽  
Janne Avela

This study investigated age-related differences in dynamic balance control and its connection to reflexes and explosive isometric plantar flexor torque in 19 males (9 Young aged 20–33 yr, 10 Elderly aged 61–72 yr). Dynamic balance was measured during Slow (15 cm/s) and Fast (25 cm/s) anterior and posterior perturbations. H/M-ratio was measured at 20% of maximal M-wave (H/M20%) 10, 30, and 90 ms after perturbations. Stretch reflexes were measured from tibialis anterior and soleus during anterior and posterior perturbations, respectively. In Slow, Elderly exhibited larger peak center-of-pressure (COP) displacement (15%; P < 0.05) during anterior perturbations. In Fast, Young showed a trend for faster recovery (37%; P = 0.086) after anterior perturbations. M-wave latency was similar between groups (6.2 ± 0.7 vs. 6.9 ± 1.2 ms), whereas Elderly showed a longer H-reflex latency (33.7 ± 2.3 vs. 36.4 ± 1.7 ms; P < 0.01). H/M20% was higher in Young 30 ms after Fast anterior (50%; P < 0.05) and posterior (51%; P < 0.05) perturbations. Plantar flexor rapid torque was also higher in Young (26%; P < 0.05). After combining both groups' data, H/M20% correlated negatively with Slow peak COP displacement ( r = −0.510, P < 0.05) and positively with Fast recovery time ( r = 0.580, P < 0.05) for anterior perturbations. Age-related differences in balance control seem to be more evident in anterior than posterior perturbations, and rapid sensory feedback is generally important for balance perturbation recovery.


2020 ◽  
Vol 36 (4) ◽  
pp. 228-234
Author(s):  
Ziva M. Rosker ◽  
Jernej Rosker ◽  
Nejc Sarabon

Reports on body sway control following microdiscectomy lack reports on side-specific balance deficits as well as the effects of trunk balance control deficits on body sway during upright stances. About 3 weeks post microdiscectomy, the body sway of 27 patients and 25 controls was measured while standing in an upright quiet stance with feet positioned parallel on an unstable support surface, a tandem stance with the involved leg positioned in front or at the back, a single-leg stance with both legs, and sitting on an unstable surface. Velocity, average amplitude, and frequency-direction–specific parameters were analyzed from the center of pressure movement, measured by the force plate. Statistically significant differences between the 2 groups were observed for the medial–lateral body sway frequency in parallel stance on a stable and unstable support surface and for the sitting balance task in medial-lateral body sway parameters. Medium to high correlations were observed between body sway during sitting and the parallel stance, as well as between the tandem and single-legged stances. Following microdiscectomy, deficits in postural balance were side specific, as expected by the nature of the pathology. In addition, the results of this study confirmed the connection between proximal balance control deficits and balance during upright quiet balance tasks.


Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 81-96 ◽  
Author(s):  
Lin Yang ◽  
Chee-Meng Chew ◽  
Yu Zheng ◽  
Aun-Neow Poo

SUMMARYThis paper studies the parameters contained in the truncated Fourier series (TFS) formulation for bipedal walking balance control. Using the TFS generated lateral motion reference, 3D bipedal walking can be directly achieved without any parameter adjustment. Furthermore, the potential of this TFS formulation for motion balance control has also been investigated. One more motion balance strategy is developed through the reinforcement learning, which adjusts the motion's reference trajectory according to the selected dynamic feedback in real time. Dynamic simulation results of the presented balance control method show that the resulting motion can be constrained periodical and long-distance 3D bipedal walking motions are achievable.


2018 ◽  
Vol 34 (6) ◽  
pp. 488-495 ◽  
Author(s):  
Michelle R. Tanel ◽  
Tyler B. Weaver ◽  
Andrew C. Laing

While the literature has characterized balance control during quasi-static and/or dynamic tasks, comparatively few studies have examined relationships across paradigms. This study investigated whether quiet-stance postural steadiness metrics were associated with reactive control parameters (during both stepping and restabilization phases) following a lean-and-release perturbation. A total of 40 older adults participated. Postural steadiness (center of the pressure range, root mean square, velocity, and frequency) was evaluated in “feet together” and “tandem stance” positions. During the reactive control trials, the step length, step width, movement time, and reaction time were measured, in addition to the postural steadiness variables measured during the restabilization phase following the stepping response. Out of 64 comparisons, only 10 moderate correlations were observed between postural steadiness and reactive spatio-temporal stepping parameters (P ≤ .05, r = −.312 to −.534). However, postural steadiness metrics were associated with the center of pressure velocity and frequency during the restabilization phase of the reactive control trials (P ≤ .02, r = .383 to .775 for velocity and P ≤ .01, r = .386 to .550 for frequency). Although some elements of quasi-static center of pressure control demonstrated moderate associations with dynamic stepping responses, relationships were stronger for restabilization phase dynamics after foot-contact. Future work should examine the potential association between restabilization phase control and older adult fall-risk.


2017 ◽  
Vol 7 (26) ◽  
pp. 93-101
Author(s):  
Raluca Enache ◽  
Dorin Sarafoleanu ◽  
Codrut Sarafoleanu

Abstract BACKGROUND. Computerized dynamic posturography is the most important battery test designed to assess the ability to use visual, vestibular and proprioceptive cues in the maintenance of posture. Foam posturography reduces the availability of proprioceptive inputs, which makes more difficult the balance control. OBJECTIVE. The objective of the study was to assess the clinical use of foam posturography in evaluating peripheral vestibular dysfunction. MATERIAL AND METHODS. We evaluated 41 patients with vestibular disorders and 41 normal patients by using the sensory organization test in eyes opened, eyes closed and mislead vision conditions with and without the foam. We measured several parameters: the position of the center of pressure, the displacement in the center of pressure in anteroposterior and mediolateral planes and Romberg’s ratio on static and foam rubber. RESULTS. The values of all parameters were significantly higher in patients with peripheral vestibular disorders than in the control group (p<0.05). Also. comparing the Romberg test results, the foam surface used by the patient was larger than the static one. CONCLUSION. Foam posturography can be a reliable test in assessing patients with peripheral vestibulopathy, being also able to identify the visual and proprioceptive dependence levels.


2020 ◽  
Vol 24 (3) ◽  
pp. 135-141
Author(s):  
Rachael Greenwell ◽  
Margaret Wilson ◽  
Jennifer L. Deckert ◽  
Meghan Critchley ◽  
Michaela Keener ◽  
...  

The purpose of this study was to determine what differences exist when performing grand plié with and without the barre. Differences in center of pressure (COP) sway, trunk kinematics, and lower extremity kinematics were used in this analysis for both first (P1) and fifth positions (P5). It was hypothesized that use of the barre would result in decreased COP sway, but increased asymmetries in trunk and lower extremity kinematics would be seen compared with the same movements performed without the barre in both positions. Sixteen collegiate dancers (1 male, 15 female) performed three trials of grand plié in P1 and P5 (right leg crossed in front) with or without the barre, for a total of 12 trials. For the barre condition (BC), participants demonstrated less time to complete grand plié, slightly less depth in grand plié, and decreased anterior-posterior (AP) sway compared to the without barre condition (WBC). The BC condition showed increased peak left trunk rotation, right knee flexion, decreased right and left peak hip flexion, and increased right hip abduction in both P1 and P5. Comparing P1 to P5, there was decreased AP sway, decreased peak left trunk rotation, decreased peak right and left hip flexion, increased left hip abduction, and decreased right knee flexion in both BC and WBC conditions. For the BC, there was increased right hip abduction in P1 compared to P5. Our results indicate that while use of the barre provides proprioceptive information, which helps dancers to control balance and learn a motor control strategy, grand plié should also be taught without the barre to challenge the dancer's balance control with different movement patterns in space.


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