Biomedical subjects

N Hogan

Publications and source records attributed to N Hogan.

At least 19 recordsLinked to original sources

PubMed2000

Haptic interaction with virtual objects. Spatial perception and motor control.

This paper considers interaction of the human arm with "virtual" objects simulated mechanically by a planar robot. Haptic perception of spatial properties of objects is distorted. It is reasonable to expect that it may be distorted in a geometrically consistent way. Three experiments were performed to quantify perceptual distortion of length, angle and orientation. We found that spatial perception is geometrically inconsistent across these perceptual tasks. Given that spatial perception is distorted, it is plausible that motor behavior may be distorted in a way consistent with perceptual distortion. In a fourth experiment, subjects were asked to draw circles. The results were geometrically inconsistent with those of the length perception experiment. Interestingly, although the results were inconsistent (statistically different), this difference was not strong (the relative distortion between the observed distributions was small). Some computational implications of this research for haptic perception and motor planning are discussed.

Distance Perception↗

PubMed1999

Robot training enhanced motor outcome in patients with stroke maintained over 3 years.

In an attempt to improve motor recovery of the upper limb after stroke, we added a robot (MIT-Manus) experience that provided additional goal-directed sensorimotor activity to standard rehabilitation treatments. The first trial produced a significant decrease in motor impairment in the upper limb for the treated group. In re-evaluating 12 of those 20 patients, nearly 3 years later, robot-trained patients showed further significant decreases in impairment measures of the affected limb. The groups were comparable at the start of the study.

Aged↗

PubMed1999

Quantization of continuous arm movements in humans with brain injury.

Segmentation of apparently continuous movement has been reported for over a century by human movement researchers, but the existence of primitive submovements has never been proved. In 20 patients recovering from a single cerebral vascular accident (stroke), we identified the apparent submovements that composed a continuous arm motion in an unloaded task. Kinematic analysis demonstrated a submovement speed profile that was invariant across patients with different brain lesions and provided experimental verification of the detailed shape of primitive submovements. The submovement shape was unaffected by its peak speed, and to test further the invariance of shape with speed, we analyzed movement behavior in a patient with myoclonus. This patient occasionally made involuntary shock-like arm movements, which occurred near the maximum capacity of the neuromuscular system, exhibited speed profiles that were comparable to those identified in stroke patients, and were also independent of speed.

Arm↗

PubMed1999

Probability density of the surface electromyogram and its relation to amplitude detectors.

When the surface electromyogram (EMG) generated from constant-force, constant-angle, nonfatiguing contractions is modeled as a random process, its density is typically assumed to be Gaussian. This assumption leads to root-mean-square (RMS) processing as the maximum likelihood estimator of the EMG amplitude (where EMG amplitude is defined as the standard deviation of the random process). Contrary to this theoretical formulation, experimental work has found the signal-to-noise-ratio [(SNR), defined as the mean of the amplitude estimate divided by its standard deviation] using mean-absolute-value (MAV) processing to be superior to RMS. This paper reviews RMS processing with the Gaussian model and then derives the expected (inferior) SNR performance of MAV processing with the Gaussian model. Next, a new model for the surface EMG signal, using a Laplacian density, is presented. It is shown that the MAV processor is the maximum likelihood estimator of the EMG amplitude for the Laplacian model. SNR performance based on a Laplacian model is predicted to be inferior to that of the Gaussian model by approximately 32%. Thus, minor variations in the probability distribution of the EMG may result in large decrements in SNR performance. Lastly, experimental data from constant-force, constant-angle, nonfatiguing contractions were examined. The experimentally observed densities fell in between the theoretic Gaussian and Laplacian densities. On average, the Gaussian density best fit the experimental data, although results varied with subject. For amplitude estimation, MAV processing had a slightly higher SNR than RMS processing.

Adolescent↗

PubMed1999

Effect of exogenous nitric oxide on baroreflex function in humans.

Nitric oxide (NO) donors inhibit sympathetic neurotransmission and baroreceptor activity and can directly stimulate heart rate (HR) in vitro. To assess whether exogenous NO affects cardiovascular autonomic control in humans, we tested the baroreceptor-cardiac reflex [baroreflex sensitivity (BRS)] and the arterial blood pressure (BP) and HR variability during an infusion of the NO donor sodium nitroprusside (SNP, 2 micrograms . kg(-1). min(-1)) or 5% glucose in 16 healthy subjects. The hypotensive action of SNP was prevented by phenylephrine (PE, 0.9 +/- 0.15 micrograms . kg(-1). min(-1)). The SNP + PE infusion did not affect BRS or HR variability, but it caused a significant reduction in the diastolic and systolic BP low-frequency power. In addition, SNP + PE caused a sustained 12% increase in HR in the absence of changes in brachial and aortic BP. In conclusion, SNP had no effect on the cardiac-vagal limb of the baroreflex in humans but caused a substantial reduction in BP low-frequency power consistent with a decreased baroreflex/sympathetic control of peripheral resistance. The increase in HR in the absence of baroreceptor downloading confirms our previous finding of a direct positive chronotropic effect of NO donors.

Adult↗

PubMed1999

Nitric oxide donors can increase heart rate independent of autonomic activation.

Administration of nitric oxide (NO) donors in vivo is accompanied by a baroreflex-mediated increase in heart rate (HR). In vitro, however, NO donors can increase HR directly by stimulating a pathway that involves NO, cGMP, and the hyperpolarization-activated current (I(f)). The aim of this study was to assess the functional significance of this pathway in vivo by testing whether NO donors can increase HR in the anesthetized rabbit independent of the autonomic nervous system. New Zealand White rabbits were vagotomized, cardiac sympathectomized, and treated with propranolol (0.3 mg/kg iv). The NO donor molsidomine (0.2 mg/kg iv) caused a progressive increase (Delta) in HR (DeltaHR, 14 +/- 3 beats/min; P < 0.01). This effect was significantly reduced by the I(f) blocker ZD-7288 (0.2 mg/kg iv; DeltaHR, 2 +/- 3 beats/min; P = not significant). Similar results were seen with sodium nitroprusside. The positive chronotropic effect of sodium nitroprusside (50 microM) was confirmed in the isolated working rabbit heart preparation (DeltaHR, 17 +/- 3 beats/min; P < 0.01). In conclusion, NO donors exert a small, but significant, positive chronotropic effect in vivo that is independent of the autonomic nervous system. These results are also consistent with data in sinoatrial node cells that show that NO donors increase HR by stimulating I(f).

Adrenergic beta-Antagonists↗

PubMed1999

Overview of clinical trials with MIT-MANUS: a robot-aided neuro-rehabilitation facility.

We are applying robotics and information technology to assist, enhance, and quantify neuro-rehabilitation. Our goal is a new class of interactive, user-affectionate clinical devices designed not only for evaluating patients, but also-for delivering meaningful therapy via engaging "video games". Notably, the novel robot MIT-MANUS has been designed and programmed for clinical neurological applications, and has undergone extensive clinical trials for more than four years at Burke Rehabilitation Hospital - White Plains, NY. This paper will review results of the first clinical trial of 20 patients, which showed that: - Stroke patients treated daily with additional robot-aided therapy during acute rehabilitation had improved outcome in motor activity at hospital discharge, when compared to a control group that received only standard acute rehabilitation treatment. - This improved outcome was sustained after three years. - The neuro-recovery process continued far beyond the commonly accepted 3 months post-stroke interval.

Double-Blind Method↗

PubMed1998

Influence of joint angle on the calibration and performance of EMG amplitude estimators.

Multiple-channel electromyogram (EMG) amplitude estimators incorporating temporal whitening filters and/or spatial uncorrelation filters contain a characterization of the EMG waveform (specifically, auto- and cross-correlation information) which may vary with joint angle. This paper reports on an experimental study which investigated the influence of joint angle on these EMG amplitude estimators. It was found that little or no relative improvement in estimator performance resulted from altering either temporal whitening or spatial uncorrelation filters as a function of joint angle. Also, the absolute performance level of these estimators did not vary with joint angle.

Adult↗

PubMed1998

Robot-aided neurorehabilitation.

Our goal is to apply robotics and automation technology to assist, enhance, quantify, and document neurorehabilitation. This paper reviews a clinical trial involving 20 stroke patients with a prototype robot-aided rehabilitation facility developed at the Massachusetts Institute of Technology, Cambridge, (MIT) and tested at Burke Rehabilitation Hospital, White Plains, NY. It also presents our approach to analyze kinematic data collected in the robot-aided assessment procedure. In particular, we present evidence 1) that robot-aided therapy does not have adverse effects, 2) that patients tolerate the procedure, and 3) that peripheral manipulation of the impaired limb may influence brain recovery. These results are based on standard clinical assessment procedures. We also present one approach using kinematic data in a robot-aided assessment procedure.

Aged↗

PubMed1998

Issues in impedance selection and input devices for multijoint powered orthotics.

We investigated the applicability of impedance controllers to robotic orthoses for arm movements. We had tetraplegics turn a crank using their paralyzed arm propelled by a planar robot manipulandum. The robot was under impedance control, and chin motion served as command source. Stiffness varied between 50, 100, or 200 N/m and damping varied between 5 or 15 N/m/s. Results indicated that a low stiffness and high viscosity provided better directional control of the tangential force exerted on the crank.

Arm↗

PubMed1998

Intermittency in preplanned elbow movements persists in the absence of visual feedback.

It has been observed for nearly 100 years that visually guided human movements appear to be composed of submovements, intermittently executed overlapping segments. This paper presents experiments to investigate the pervasiveness of movement intermittency and, in particular, whether it is exclusively due to visual feedback. With and without visual feedback, human subjects were asked to 1) move with constant velocity and 2) draw elliptical figures on a phase-plane display (showing velocity vs. position) that required cyclic movements at different frequencies. In both tasks, we found that removal of visual feedback did not significantly change movement intermittency. Subjects were unable to generate movements at constant speed. In addition, subjects moved less smoothly when drawing slower phase-plane ellipses. Furthermore, elliptical phase-plane figures were not always drawn at the frequency suggested by the center of the display. Instead, subjects moved more slowly than the tall (fast) ellipse displays suggested, and faster than the wide (slow) displays suggested. These results show that 1) movement intermittency is not exclusively due to visual feedback and 2) may in fact be a fundamental feature of movement behavior.

Adult↗

PubMed1998

Robot-aided functional imaging: application to a motor learning study.

The purpose of this study was to examine the neural activity underlying an implicit motor learning task. In particular, our goals were to determine whether initial phases of procedural learning of a motor task involve areas of the brain distinct from those involved in later phases of learning the task, and what changes in neural activity coincide with performance improvement. We describe a novel integration of robotic technology with functional brain imaging and its use in this study of implicit motor learning. A portable robotic device was used to generate forces that disturbed the subjects' arm movements, thereby generating a "virtual mechanical environment" that the subjects learned to manipulate. Positron emission tomography (PET) was used to measure indices of neural activity underlying learning of the motor task. Eight health, right-handed male subjects participated in the study. Results support the hypothesis that different stages of implicit learning (early and late implicit learning) occur in an orderly fashion, and that distinct neural structures may be involved in these different stages. In particular, neuroimaging results indicate that the cortico-striatal loop may play a significant role during early learning, and that the cortico-cerebellar loop may play a significant role during late learning.

Adult↗

PubMed1997

The effect of robot-assisted therapy and rehabilitative training on motor recovery following stroke.

BACKGROUND: We used MIT-Manus, a robot designed to provide interactive, goal-directed motor activity for clinical neurologic applications. OBJECTIVE: To test whether this robotic manipulation of the impaired limb influenced motor recovery in patients with hemiplegia. METHODS: Sequential patients with a history of a single stroke and hemiplegia (N = 20) hospitalized on the same acute care rehabilitation floor were enrolled in a standard rehabilitation program supplemented by either robot-aided therapy or sham robot-aided therapy. These 2 groups were comparable in age, initial physical impairment, and time between onset of the stroke and enrollment in the trial. Patients, clinical team members, and the clinical evaluator were blinded to the treatment group assignments. Standardized assessment tools measured outcomes. RESULTS: Impairment and disability declined in both groups between hospital admission and discharge. The robot-treated group showed a greater degree of improvement in all 3 measures of motor recovery, and the change in motor status measured in the proximal upper limb musculature was significant (P = .002). No adverse events resulted from robot-assisted therapy. CONCLUSIONS: These results suggest that robotic manipulation of the impaired limb may favorably add to recovery following stroke and that robotics may provide new strategies for neurologic rehabilitation.

Adult↗

PubMed1997

Relating agonist-antagonist electromyograms to joint torque during isometric, quasi-isotonic, nonfatiguing contractions.

This paper describes an experimental study which relates simultaneous elbow flexor-extensor electromyogram (EMG) amplitude to joint torque. Investigation was limited to the case of isometric, quasi-isotonic (slowly force-varying), nonfatiguing contractions. For each of the flexor and extensor muscle groups, the model relationship between muscle group torque contribution and EMG amplitude was constrained to be a sum of basis functions which had a linear dependence on a set of fit parameters. With these constraints, the problem of identifying the EMG-to-torque relationship was reduced to a linear least squares problem. Surface EMG's from elbow flexors and extensors, and joint torque were simultaneously recorded for nonfatiguing, quasi-isotonic, isometric contractions spanning 0-50% maximum voluntary contraction. Single-/multiple-channel unwhitened/whitened/adaptively whitened EMG amplitude processors were used to identify an EMG-to-torque relation, and then estimate joint torque based on this relation. Each unwhitened multiple-channel EMG-to-torque estimator had a standard error (SE) approximately 70% of its respective single-channel estimator. The adaptively whitened multiple-channel joint torque estimator had an SE approximately 90% of the unwhitened multiple-channel estimator, providing an estimation error approximately 3% of the combined flexion/extension torque range. The experimental studies demonstrated that higher fidelity EMG amplitude processing led to improved joint torque estimation.

Adult↗

PubMed1995

Stability properties of human reaching movements.

Through an experimental study of the stability properties of the human neuromuscular system while it performs simple point-to-point arm movements, this paper evaluates the concepts of equilibrium and virtual trajectories as a means of executing movement of the arm. Human subjects grasped the instrumented handle of a two-link robot manipulandum and performed specified point-to-point planar arm trajectories. Computer-controlled brakes were used to subtly change the movements by constraining the trajectory along an arc of radius equal to the length of one link of the manipulandum. Target points were arranged to lie along the arc so that the subject could complete the movement even when constrained. These situations were tested: (1) unconstrained throughout the movement, (2) constrained through the entire movement, and (3) initially constrained and then released during movement. Experimental results showed that the constraint evoked significant forces strongly oriented so as to restore the hand to the unconstrained hand path. In addition, when released from the constraint, these forces caused a strong tendency to return the hand to the unconstrained path before the end of the movement was reached. Such strong positional stability properties of the arm reinforce the notion that a moving attractor point dominates the dynamics of the arm during movement. Additionally, bounds on the shape of the virtual trajectory were found which indicate that the equilibrium point remains close to the actual movement produced. These results, showing that a controlled equilibrium point may be used for planning and coordinating multijoint movements, are consistent with an equilibrium point hypothesis.

Adult↗

PubMed1995

Multiple site electromyograph amplitude estimation.

Temporal whitening of individual surface electromyograph (EMG) waveforms and spatial combination of multiple recording sites have separately been demonstrated to improve the performance of EMG amplitude estimation. This investigation combined these two techniques by first whitening, then combining the data from multiple EMG recording sites to form an EMG amplitude estimate. A phenomenological mathematical model of multiple sites of the surface EMG waveform, with analytic solution for an optimal amplitude estimate, is presented. Experimental surface EMG waveforms were then sampled from multiple sites during nonfatiguing, constant-force, isometric contractions of the biceps or triceps muscles, over the range of 10-75% maximum voluntary contraction. A signal-to-noise ratio (SNR) was computed from each amplitude estimate (deviations about the mean value of the estimate were considered as noise). Results showed that SNR performance: 1) increased with the number of EMG sites, 2) was a function of the sampling frequency, 3) was predominantly invariant to various methods of determining spatial uncorrelation filters, 4) was not sensitive to the intersite correlations of the electrode configuration investigated, and 5) was best at lower levels of contraction. A moving average root mean square estimator (245-ms window) provided an average +/- standard deviation (A +/- SD) SNR of 10.7 +/- 3.3 for single site unwhitened recordings. Temporal whitening and four combined sites improved the A +/- SD SNR to 24.6 +/- 10.4. On one subject, eight whitened combined sites were achieved, providing an A +/- SD SNR or 35.0 +/- 13.4.

Adult↗

PubMed1995

Performance of above elbow body-powered prostheses in visually guided unconstrained motion tasks.

The "classical" body-powered above elbow arm prosthesis continues to be used by a large majority of arm prosthesis users, even though many more modern devices are available. This paper presents a set of experiments designed to compare performance of unimpaired arms and body-powered prostheses of six unilateral amputees. The experiments were designed to measure quantitatively how well the body-powered prosthesis can be used to perform free-motion tasks, as well as to study the qualitative features of movement common to both the prosthesis and unimpaired arm. It was found that regular peaks in velocity were common to both the unimpaired arm and prosthesis movements, suggesting that movements were composed of a sequence of successive actions. In addition, it was found that the body-powered prosthesis generally required more movements than the unimpaired arm to meet an accuracy constraint and could not keep up with the unimpaired arm when a speed constraint was imposed, even though the body-powered prosthesis was able to match the unimpaired arm in a simple nondynamic task.

Adult↗

PubMed1994

Single site electromyograph amplitude estimation.

Previous investigators have experimentally demonstrated and/or analytically predicted that temporal whitening of the surface electromyograph (EMG) waveform prior to demodulation improves the EMG amplitude estimate [1]-[6]. However, no systematic study of the influence of various whitening filters upon amplitude estimate performance has been reported. This paper describes a phenomenological mathematical model of a single site of the surface EMG waveform and reports on experimental studies which examined the performance of several temporal whitening filters. Surface EMG waveforms were sampled during nonfatiguing, constant-force, isometric contractions of the biceps or triceps muscles, over the range of 10-75% maximum voluntary contraction. A signal-to-noise ratio (SNR) was computed from each amplitude estimate (deviations about the mean value of the estimate were considered as noise). A moving average root mean square estimator (245ms window) provided an average +/- standard deviation (A +/- SD) SNR of 10.7 +/- 3.3 for the individual recordings. Temporal whitening with one fourth-order whitening filter designed per site improved the A +/- SD SNR to 17.6 +/- 6.0.

Adult↗