Robotic device improves balance and gait in Parkinson’s disease patients

Columbia engineers find that a single session of perturbation-based training, using their Tethered Pelvic Assist Device, increased stability of patients during walking while exposed to unexpected perturbations.

Balance Test Offers Offers New Hope For Parkinson’s Patients. CBS2’s Dr. Max Gomez has more on a technique that prevents falls for Parkinson’s patients by actually trying to knock them off their feet. CBS New York. Published on Youtube Jun 5, 2018.

By Holly Evarts, Columbia Engineering December 20 2017

Some 50,000 people in the U.S. are diagnosed with Parkinson’s disease (PD) every year. The American Institute of Neurology estimates there are one million people affected with this neurodegenerative disorder, with 60 years as average age of onset. Falls and fall-related injuries are a major issue for people with Parkinson’s—up to 70 percent of advanced PD patients fall at least once a year and two-thirds suffer recurring falls. These fall rates are twice as high as those of adults of comparable age, so improving balance in patients with Parkinson’s would provide a major health advantage.

Figure 1 from Adaptation of Stability during Perturbed Walking in Parkinson’s Disease. Left: Schematic of robot-driven Tethered Pelvic Assist Device with a subject using the TPAD training method to improve stability in Parkinson’s, while walking. Right: Subject using TPAD. Sunil Agrawal, Columbia Engineering

Sunil Agrawal, professor of mechanical engineering and of rehabilitation and regenerative medicine at Columbia Engineering, along with Dario Martelli, a post-doctoral researcher in his group, have been working on this issue with Movement Disorders faculty from the department of neurology at Columbia University Medical CenterStanley Fahn, a leading expert in Parkinson’s, and Un Jung Kang, division director, and Movement Disorder Fellow Lan Luo. In their latest study, published this week in Scientific Reports, the team looked at whether or not Parkinson’s disease affects patients’ balance and diminishes their ability to react and adapt to walking with perturbations.

The researchers found that the ability to adapt to multiple perturbations or to modify responses to changing amplitudes or directions was not affected by PD; both the Parkinson’s and the healthy subjects controlled their reactive strategies in the same way. In fact, both groups improved their unperturbed walking after a single training session with repeated waist pull perturbations.

Engineering for Humanity: HEALTHY. The Robotics And Rehabilitation (RoAR) Lab develops innovative robots and methods to help humans relearn, restore, or improve functional movements. The lab is housed both in Engineering and Medical campuses of Columbia University. Led by Dr. Sunil Agrawal, the lab works actively with clinical faculty from Columbia University Medical Center and hospitals around New York City. Columbia Engineering. Published on Youtube Dec 20, 2017

Human studies have targeted elderly subjects and patients with stroke, cerebral palsy, spinal cord injury, Parkinson’s disease, ALS, and others.

Agrawal’s team, experts in rehabilitation robotics, used a robotic system—Tethered Pelvic Assist Device (TPAD)—invented in his Robotics and Rehabilitation (ROAR) Laboratory to perform the study. The TPAD is a wearable, lightweight cable-driven robot that can be programmed to provide forces on the pelvis in a desired direction as a subject walks on a treadmill. In an earlier study, Agrawal successfully used the TPAD to improve posture and walking in children with cerebral palsy.“Most falls in PD are reported during walking, and gait disorders are one of the hallmarks of PD, but previous studies on PD subjects have focused on responses to balance perturbations only while standing,” says Agrawal, also a member of the Data Science Institute.

“Our TPAD has enabled us for the first time to study how subjects respond to repeated pelvic perturbations during walking, and to characterize reactive and adaptive responses to these perturbations among the young, old, and PD patients. ”Nine PD patients and nine age-matched control subjects participated in the study. The researchers evaluated the margin of stability and base of support while the study participants walked without cables on a treadmill. Then the participants were hooked up to the TPAD’s cables and given waist-pull diagonal perturbations for brief periods to assess their reactions.

Each group was then trained with 72 randomly applied pelvic force perturbations that varied in direction (forward/backward/sideways), intensity (low/medium/high), and the specific foot (right/left) in contact with the ground. After this training period, they walked freely without the cables and underwent the same diagonal perturbations they had been given before training. These post-sessions were conducted to assess the effects of training on their balance and stability.

The team found that the Parkinson’s patients had a reduced stability in the forward direction before and after training compared to the healthy subjects and an inability to produce proactive anticipatory adjustments. Once all the subjects completed the training session, both groups were able not only to improve their response to the perturbations, but also to produce short-term aftereffects of increased gait stability.

“Our data showed that one single session of perturbation-based balance training produced acute effects that ameliorated gait instability in PD patients,” says Martelli, the paper’s first author. “This result is encouraging for designing new therapeutic interventions that remediate falls risk.”

Falls often happen unexpectedly when someone fails to recover from a loss of balance.

While current training methods, such as conventional exercises at the gym, target volitional movements of the body, they do not address the specific neuromuscular skills required for fall prevention.

“This novel TPAD provides an insight into the specific mechanisms underlying the propensity of PD patients to fall and the ability to address these specific deficits to train them to avoid falls. The potential impact of such training to prevent accompanying morbidity from the falls and to improve their quality of life is great,” Kang says.

Fahn notes, “We believe that new training programs, in coordination with new robotic devices such as Columbia Engineering’s TPAD, should be developed where unexpected force perturbations are given to the human subjects in a controlled way that allows the human brain to develop control strategies to respond to these perturbations, maintain balance, and avoid falls.”

The researchers are now planning future studies to examine if a multi-session training program will demonstrate more lasting effects on walking balance, improve function, and reduce the number of falls in long-term assessments.

Source Columbia Engineering

Adaptation of Stability during Perturbed Walking in Parkinson’s Disease, Martelli D, Luo L, Kang J, Kang UJ, Fahn S, Agrawal SK. Sci Rep. 2017 Dec 19;7(1):17875. doi: 10.1038/s41598-017-18075-6.
  Further reading
On the Adaptation of Pelvic Motion by Applying 3-dimensional Guidance Forces Using TPAD, Kang J, Vashista V, Agrawal SK. IEEE Trans Neural Syst Rehabil Eng. 2017 Sep;25(9):1558-1567. doi: 10.1109/TNSRE.2017.2679607. Epub 2017 Mar 8.

A single session of perturbation-based gait training with the A-TPAD improves dynamic stability in healthy young subjects, Martelli D, Kang J, Agrawal SK. IEEE Int Conf Rehabil Robot. 2017 Jul;2017:479-484. doi: 10.1109/ICORR.2017.8009294.

A systematic review of gait perturbation paradigms for improving reactive stepping responses and falls risk among healthy older adults, McCrum C, Gerards MHG, Karamanidis K, Zijlstra W, Meijer K. Eur Rev Aging Phys Act. 2017 Mar 2;14:3. doi: 10.1186/s11556-017-0173-7. eCollection 2017. Review.

Direction-Dependent Adaptation of Dynamic Gait Stability Following Waist-Pull Perturbations, Martelli D, Vashista V, Micera S, Agrawal SK. IEEE Trans Neural Syst Rehabil Eng. 2016 Dec;24(12):1304-1313. doi: 10.1109/TNSRE.2015.2500100. Epub 2015 Nov 23.

Asymmetric adaptation in human walking using the Tethered Pelvic Assist Device (TPAD), Vashista V, Reisman DS, Agrawal SK. IEEE Int Conf Rehabil Robot. 2013 Jun;2013:6650385. doi: 10.1109/ICORR.2013.6650385.

Force adaptation in human walking with symmetrically applied downward forces on the pelvis, Vashista V, Agrawal N, Shaharudin S, Reisman DS, Agrawal SK. Conf Proc IEEE Eng Med Biol Soc. 2012;2012:3312-5. doi: 10.1109/EMBC.2012.6346673.

Adaptations to Postural Perturbations in Patients With Freezing of Gait, Bekkers Esther M. J., Van Rossom Sam, Heremans Elke, Dockx Kim, Devan Surendar, Verschueren Sabine M. P., Nieuwboer Alice. Front. Neurol., 17 July 2018 DOI: 10.3389/fneur.2018.00540

A systematic review of gait perturbation paradigms for improving reactive stepping responses and falls risk among healthy older adults, McCrum C, Gerards MHG, Karamanidis K, Zijlstra W, Meijer K. Eur Rev Aging Phys Act. 2017 Mar 2;14:3. doi: 10.1186/s11556-017-0173-7. eCollection 2017. Review.

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