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PubMed2000

Postural control in the lamprey: A study with a neuro-mechanical model.

The swimming lamprey normally maintains the dorsal-side-up orientation due to activity of the postural control system driven by vestibular organs. Commands for postural corrections are transmitted from the brain stem to the spinal cord mainly by the reticulospinal (RS) pathways. As shown in previous studies, RS neurons are activated by contralateral roll tilt, they exhibit a strong dynamic response, but much weaker static response. Here we test a hypothesis that decoding of these commands in the spinal cord is based on the subtraction of signals in the left and right RS pathways. In this study, we used a neuro-mechanical model. An intact lamprey was mounted on a platform that restrained its postural activity but allowed lateral locomotor undulations to occur. The activity in the left and right RS pathways was recorded by implanted electrodes. These natural biological signals were then used to control an electrical motor rotating the animal around its longitudinal axis toward the stronger signal. It was found that this "hybrid" system automatically stabilized a normal orientation of the lamprey in the gravitational field. The system compensated for large postural disturbances (lateral tilt up to +/-180 degrees ) due to wide angular zones of the gravitational sensitivity of RS neurons. In the nonswimming lamprey, activity of RS neurons and their vestibular responses were considerably reduced, and the system was not able to stabilize the normal orientation. However, the balance could be restored by imposing small oscillations on the lamprey, which elicited additional activation of the vestibular organs. This finding indicates that head oscillations caused by locomotor movements may contribute to postural stabilization. In addition to postural stabilization, the neuro-mechanical model reproduced a number of postural effects characteristic of the lamprey: 1) unilateral eye illumination elicited a lateral tilt ("dorsal light response") due to a shift of the equilibrium point in the vestibular-driven postural network; 2) removal of one labyrinth resulted in a loss of postural control due to an induced left-right asymmetry in the vestibulo-reticulospinal reflexes, which 3) could be compensated for by asymmetrical visual input. The main conclusion of the present study is that natural supraspinal commands for postural corrections in the roll plane can be effectively decoded on the basis of subtraction of the effects of signals delivered by the left and right RS pathways. Possible mechanisms for this transformation are discussed.

Animals↗
PubMed1998

Interaction of vestibular, somatosensory and visual signals for postural control and motion perception under terrestrial and microgravity conditions--a conceptual model.

This article considers the intersensory interaction mechanisms and biomechanical aspects of human spatially oriented behavior and asks to what extent these are interrelated on earth by gravity and how they might be affected under microgravity. The interactions between vestibular, somatosensory and visual inputs for postural control are obscured by several complications (biomechanics, multi-body dynamics, multimodal feedback control, cognition etc.). However, they can be revealed in psychophysical studies on human self-motion perception. Based on such studies, we present a conceptual model, which we think is valid also for postural control. It accounts for the multi-segmental structure of the body, allowing local control of inter-segmental joints, but uses one global reference system for all segments, which is derived from the intersensory interactions. We hold that, at a sensory level, the system is tied together by linkages between vestibular, visual and somatosensory information which develop through experience of inertial and gravitational reaction forces. On earth these linkages are established even in the absence of active behavior by gravity, allowing the incorporation of one's body and its support into a notion (Gestalt) of ourselves in the environment. Under microgravity, in contrast, the linkages have to be actively established for postural and perceptual stability in the environment (e.g., by grasping a handle on the wall). From this work we recommend that future research under altered gravity conditions should be guided by models that include biomechanics, considerations of intersensory interaction and dynamic control mechanisms. Such an integrative conceptual framework will be helpful for reaching a general understanding of spatially oriented behavior.

Gravitation↗
PubMedDate not supplied

A link-segment model of upright human posture for analysis of head-trunk coordination.

Sensory-motor control of upright human posture may be organized in a top-down fashion such that certain head-trunk coordination strategies are employed to optimize visual and/or vestibular sensory inputs. Previous quantitative models of the biomechanics of human posture control have examined the simple case of ankle sway strategy, in which an inverted pendulum model is used, and the somewhat more complicated case of hip sway strategy, in which multisegment, articulated models are used. While these models can be used to quantify the gross dynamics of posture control, they are not sufficiently detailed to analyze head-trunk coordination strategies that may be crucial to understanding its underlying mechanisms. In this paper, we present a biomechanical model of upright human posture that extends an existing four mass, sagittal plane, link-segment model to a five mass model including an independent head link. The new model was developed to analyze segmental body movements during dynamic posturography experiments in order to study head-trunk coordination strategies and their influence on sensory inputs to balance control. It was designed specifically to analyze data collected on the EquiTest (NeuroCom International, Clackamas, OR) computerized dynamic posturography system, where the task of maintaining postural equilibrium may be challenged under conditions in which the visual surround, support surface, or both are in motion. The performance of the model was tested by comparing its estimated ground reaction forces to those measured directly by support surface force transducers. We conclude that this model will be a valuable analytical tool in the search for mechanisms of balance control.

Biomechanical Phenomena↗
PubMed1998

Optimization-based differential kinematic modeling exhibits a velocity-control strategy for dynamic posture determination in seated reaching movements.

We proposed a velocity control strategy for dynamic posture determination that underlay an optimization-based differential inverse kinematics (ODIK) approach for modeling three-dimensional (3-D) seated reaching movements. In this modeling approach, a four-segment seven-DOF linkage is employed to represent the torso and right arm. Kinematic redundancy is resolved efficiently in the velocity domain via a weighted pseudoinverse. Weights assigned to individual DOF describe their relative movement contribution in response to an instantaneous postural change. Different schemes of posing constraints on the weighting parameters, by which various motion apportionment strategies are modeled, can be hypothesized and evaluated against empirical measurements. A numerical optimization procedure based on simulated annealing estimate the weighting parameter values such that the predicted movement best fits the measurement. We applied this approach to modeling 72 seated reaching movements of three distinctive types performed by six subjects. Results indicated that most of the movements were accurately modeled (time-averaged RMSE < 5 degrees) with a simple time-invariant four-weight scheme which represents a time-constant, inter-joint motion apportionment strategy. Modeling error could be further reduced by using less constrained schemes, but notably only for the ones that were relatively poorly modeled with a time-invariant four-weight scheme. The fact that the current modeling approach was able to closely reproduce measured movements and do so in a computationally advantageous way lends support to the proposed velocity control strategy.

Animals↗
PubMed1994

Sensory stimulation promotes normalization of postural control after stroke.

BACKGROUND AND PURPOSE: In a randomized study of hemiparetic stroke patients with a median age of 75 years, functional recovery was significantly better in those who received additional sensory stimulation (n = 38), including electrostimulation, than in control patients (n = 40) given the same physiotherapy and occupational therapy; group differences for balance, mobility, and activities of daily living were significant. The present study was designed to investigate postural control in patients who survived more than 2 years after stroke onset. METHODS: The 48 survivors (mean, 2.7 years; range, 2.0 to 3.8 years), 22 from the treatment group and 26 from the control group, were compared with 23 age-matched healthy subjects. Subjects were perturbed by vibrators applied to calf muscles or with galvanic vestibular stimulation. We evaluated postural control in terms of sway variances or sway velocities and the dynamics of postural control as a feedback system using system identification with a model previously validated for human postural control. RESULTS: Significantly more patients of the treatment group than of the control group maintained stance during perturbations (P < .01). Among patients capable of maintaining stance during perturbation, the control patients were characterized by significant divergence from normal values in two of the three characteristic parameters of dynamic postural control (ie, swiftness and stiffness; P < .05) compared with the treatment subgroup or age-matched subjects. CONCLUSIONS: The course of sensory stimulation enhanced recovery of postural function, an enhancement still significant 2 years after the lesion and treatment. The differences and near normalization of characteristic parameters of dynamic postural control among treated patients suggest that improved recovery after sensory stimulation may be achieved by patients regaining normal or near normal dynamics of human postural control.

Activities of Daily Living↗
PubMed1991

Optimal coordination and control of posture and locomotion.

This paper presents a theoretical model of stability and coordination of posture and locomotion, together with algorithms for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are obtained by solving an algebraic matrix equation. The stability is investigated with Lyapunov function theory, and it is shown that global asymptotic stability holds. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. The solution describes motion strategies of minimum effort and variance. The proposed optimal control is formulated to be suitable as a posture and stance model for experimental validation and verification. The combination of adaptive and optimal control makes this algorithm a candidate for coordination and control of functional neuromuscular stimulation as well as of prostheses.

Algorithms↗
PubMed2004

Abnormal resonance behavior of the postural control loop in Parkinson's disease.

Human postural control of upright stance sporadically can show an oscillatory behavior. Based on previous work, we assessed whether an abnormal tendency for such oscillations might contribute to the motor impairments in patients with basal ganglia dysfunction such as Parkinson's disease (PD). We investigated postural control during unperturbed stance in normal control subjects and in PD patients off and under treatment, focusing on stabilogram diffusion analysis (SDA) of the foot center of pressure (COP) excursions and conventional measures of the sway amplitude and velocity. We found abnormal 1 Hz body sway oscillation in the SDA curves of PD patients that differed significantly from the body sway typically observed in control subjects during quiet stance. The 1 Hz body sway oscillation was associated with abnormally large and fast sway in the patients off treatment. Under treatment with levodopa, with 'deep brain stimulation' (subthalamic nucleus) and even more so with combined treatment, the oscillations in the SDA curves vanished and the sway became slower. The loss of oscillation and reduction of sway velocity were highly correlated with the improvements of patients' clinical motor assessment score. However, sway amplitude was not correlated with the patients' motor assessment score and patients reported clinical improvement under therapy even though sway amplitude increased on average. A simple feedback model of the postural control system with abnormally large internal noise could predict experimental measures both on and off treatment. The off treatment condition was consistent with a high motor gain in the feedback loop, and the on treatment condition with a reduced motor gain.

Basal Ganglia↗
PubMed2000

Simulation of the Seated Postural Stability of Healthy and Spinal Cord-Injured Subjects Using Optimal Feedback Control Methods.

A two-dimensional, biomechanical computer model was developed, using the software package Working Model(TM), to simulate the postural control of seated individuals. Both able-bodied and spinal cord-injured subjects were represented. The model incorporated active control of the upper body through full-state feedback. Specifically, a linear quadratic regulator scheme was implemented in the model. Nonlinearities were included in the torque computations to mimic physiological constraints and disability. Interactions between the subject and the wheelchair were also included in the model. Simulation results were compared with those obtained from experiments in which the subjects had attempted to remain stable during the application of significant disturbance moments, similar to those experienced during braking in a vehicle. While subjects exhibited more complex control schemes, the model was able to simulate overall stability. Therefore, it is believed that the model could prove beneficial to future research examining the effects of various restraints on stability.

Journal Article↗
PubMedDate not supplied

Vestibular loss disrupts control of head and trunk on a sinusoidally moving platform.

Twelve subjects, 6 bilateral vestibular-loss (3 well compensated and 3 poorly compensated) and 6 controls, attempted to maintain balance during anterior-posterior sinusoidal surface translation at 6 different frequencies. For frequencies or= 0.75 Hz, these subjects fixed their head/upper-trunk in space. Poorly compensated vestibular subjects showed large head and center of mass variability and were unable to balance at frequencies requiring a head fixed in space pattern. All vestibular subjects were less stable with vision than the controls. Without vision, vestibular subjects experienced more falls than the controls at all frequencies, with falls observed in 61% of the vestibular subjects trials and 16% of the control subjects trials. Vestibular information is important in stabilizing head and upper-trunk motion in space. Visual and somatosensory information can compensate, in part, for vestibular-loss. The results are discussed in light of models that characterize postural control in a vestibular/visual top-down and somatosensory bottom-up manner.

Accidental Falls↗
PubMed2005

Postural control and detection of slip/fall initiation in the elderly population.

One of the common causes of morbidity and mortality in workplaces is related to slips or falls. Reaction to external disturbances, such as slips or falls, requires a process of perturbation detection and control of motion changes. Postural control is a common mechanism to compensate unexpected displacements of the body. The ability of postural control diminishes with ageing or neuropathy. In this study, two controlled groups, diabetics and non-diabetics in the elderly population, were investigated to compare how different postural control mechanisms would relate to the detection of perturbation and regain of balance. The ultra-low-vibration Sliding Linear Investigative Platform for Analyzing Lower Limb Stability SYSTEM was used to measure the biomechanical changes of posture and perturbation detection. In phase 1 of the analysis, static measures during quiet standing were considered to investigate the relationship between postural stability and perturbation detection capability. In phase 2 of the analysis, dynamic measures during an occurrence of perturbation were analysed. Statistical tests and linear logistic regression models were applied to find differences of postural control mechanisms and to build a predictive model for perturbation detection quantitatively. It is anticipated that the results of this study will contribute to more comprehensive understanding of postural control mechanisms and design of slip/fall prevention programmes.

Acceleration↗
PubMed1989

Stance dependence of automatic postural adjustments in humans.

This study investigated the effect of initial stance configuration on automatic postural responses in humans. Subjects were tested in both bipedal and quadrupedal stance postures. The postural responses to horizontal translations of the supporting surface were measured in terms of the forces at the ground, movement of the body segments, and electromyographic (EMG) activity. Postural responses to the same perturbations changed with initial stance posture; these responses were biomechanically appropriate for restoring centre of mass. A change in stance configuration prior to platform movement led to a change in both the spatial and temporal organization of evoked muscle activation. Specifically, for the same direction of platform movement, during bipedal stance muscles on one side of the lower limb were activated in a distal to proximal sequence; during quadrupedal stance, muscles on the opposite side of the lower limb were activated and in a proximal to distal sequence. The most significant finding was an asymmetry in the use of the upper limbs and the lower limbs during postural corrections in quadrupedal stance. Whereas antagonists of the upper limb were either co-activated or co-inhibited, depending on the direction of translation, lower limb antagonists were reciprocally activated and inhibited. Human subjects in a quadrupedal stance posture used the lower limbs as levers, protracting or retracting the hips in order to propel the trunk back to its original position with respect to the hands and feet. Postural responses of the subjects during quadrupedal stance were remarkably similar to those of cats subjected to similar perturbations of the supporting surface. Furthermore, the same predominance of lower limb correction is characteristic of both species, suggesting that the standing cat is a good model for studying postural control in humans.

Adult↗
PubMed2026

Instrumented Walkway Gait Analysis Predicts Fallers in Neurological Disorders: Identifying Digital Biomarkers for Balance Monitoring.

Assessing balance is crucial in neurological rehabilitation, yet while wearable sensors enable real-world monitoring, identifying reliable digital biomarkers remains challenging. This study utilized a high-fidelity instrumented walkway to determine which gait parameters best predict balance impairment, providing robust targets for future wearable applications. We analyzed 49 steady-state gait metrics from 140 individuals with diverse neurological conditions. Using statistical analysis and machine learning, we evaluated these parameters against objective force plate sway scores and clinical fall-history labels. Group analysis identified 16 parameters significantly distinguishing fallers from non-fallers, and a neural network classified fallers with an area under the curve of 0.75. Across all analytical approaches, overall gait variability, e.g., Stride Width S.D. and the Gait Variability Index, emerged as a universal predictor of balance impairment and fall risk. Furthermore, while traditional linear models emphasized spatial postural control, machine learning classification uniquely identified inter-limb asymmetry as a premier driver of fall prediction. These findings indicate that instrumented gait analysis effectively identifies digital biomarkers for balance deficits. Isolating these specific metrics provides a clear blueprint for meaningful metrics required for continuous objective monitoring and future development of personalized, adaptive rehabilitation strategies.

Humans↗
PubMed1997

Early recognition of postural disorders in multiple sclerosis through movement analysis: a modeling study.

In the present study, spontaneous postural behavior has been analyzed in freely standing multiple sclerosis (MS) patients, exhibiting no clinically assessable abnormalities of postural control. This population has been compared with two other groups, healthy people and hemiparetic patients. This latter group represents a situation where the central nervous system (CNS) lesion is precisely localized in one anatomical site and no signal-conduction disorders are present; i.e., it has an opposite anatomical character with respect to the MS at a preclinical stage. The hypothesis underlying the modeling study is the presence of a controller block working in a feedback posture control system. This controller block receives the body sway as input, and produces the corresponding ankle torque stabilizing the body, the latter being modeled as an inverted pendulum. The CNS damage, caused by MS, is supposed to be reflected in some detectable change in the structure of the controller of the posture control system. The identification of the controller has been performed by means of a parametric estimation procedure which employed as input sequences, data recorded by means of a movement-analysis (MA) system. Reported findings show a structural changes of the model of the controller block in the posture control system. This result may suggest the presence of an MS-specific reorganization of the posture control system. Some speculation is finally made on the black-box approach in comparison with traditional posturography, to arrive at hypothesizing a progression path for postural disorders.

Adult↗
PubMed2000

The effects of visual input on postural control mechanisms: an analysis of center-of-pressure trajectories using the auto-regressive model.

New measures to characterize center-of-pressure (COP) trajectories during quiet standing were proposed and then utilized to investigate changes in postural control with respect to visual input. Eleven healthy male subjects (aged 20-27 years) were included in this study. An instrumented force platform was used to measure the time-varying displacements of the COP under each subject's feet during quiet standing. The subjects were tested under eyes-open and eyes-closed conditions. The COP time series were separately analyzed for the medio-lateral and antero-posterior directions. The proposed measures were obtained from the parameter estimation of auto-regressive (AR) models. The percentage contributions and geometrical moment of AR coefficients showed statistically significant differences between vision conditions. The present COP displacements under the eyes-open condition showed higher correlation with the past COP displacements at longer lag times, when compared to the eyes-closed condition. In contrast, no significant differences between vision conditions were found for conventional summary statistics, e.g., the total length of the COP path. These results suggest that the AR parameters are useful for the evaluation of postural stability and balance function, even for healthy young individuals. The role of visual input in the postural control system and implications of the findings were discussed.

Adult↗
PubMedDate not supplied

Effects of different treatments on postural performance in patients with cervical root compression. A randomized prospective study assessing the importance of the neck in postural control.

Patients with cervical root compression were used as a "model" to investigate the possible importance of neck disorders and cervical sensory information in postural control. We assessed postural performance with posturography before and after treatment in 71 consecutive patients with MRI-verified cervical root compression without medullary compression. The patients were randomized to surgery (n = 22), physiotherapy (n = 24) or treatment with cervical collars (n = 25). There were no differences in postural performance or pain intensity between the groups before treatment. After treatment, the surgery group manifested significant improved postural performance and reduced neck pain scores, as compared to the two conservative treatment groups, and their postural performance had improved to the same level manifested by healthy controls. The conservative treatment groups manifested no consistent significant changes in postural performance or pain scores. Decreased muscular tension due to reduction of cervical pain after surgery and normalization of cervical proprioception are suggested as possible explanations of the improved postural control.

Female↗
PubMed2006

Modeling the dynamics of sensory reweighting.

Reweighting sensory information adaptively is considered critical for flexible postural control, but little is known of the time scale of the reweighting process. We analyzed the transient dynamics of sensory reweighting in a previously published nonlinear adaptive model of sensory integration in the human postural control system. The model's dynamics of adaptation were tested in response to abrupt changes in the amplitude of the motion of the visual surround. In addition to qualitatively reproducing the correct asymptotic response to such changes in visual amplitude, as previously found, the model qualitatively reproduced the asymmetric transient response elucidated in recent experiments (Oie et al. in Gait Posture 2005). In particular, the model adapts at an initially rapid rate to a switch from low to high amplitude visual motion, but at an initially slower rate upon the return to low amplitude motion. The observed temporal asymmetry has potential functional value. Rapid downweighting of a visual stimulus that suddenly increases is necessary to prevent loss of upright equilibrium. A visual stimulus that decreases in amplitude does not pose a threat to upright balance, allowing for slower upweighting without functional consequence.

Adaptation, Physiological↗
PubMed2002

Analysis of sway in Parkinson's disease using a new inclinometry-based method.

In order to analyze balance control, we developed a new inclinometry-based method to provide direct information about body sway in the side-to-side and forward-backward directions. We tested the clinical utility of this method for analyzing balance in Parkinson's disease (PD), and studied the clinical correlates of the balance measures in PD. Postural sway was measured during quiet stance with eyes open and eyes closed in 28 PD patients and in 32 age- and sex-matched control subjects. Postural sway was modeled using side-to-side and forward-backward directional sway movements, sway velocity, and sway area. The amount of postural sway in the PD patients was greater than in the control subjects, the higher level being most marked in patients with severe or long-duration PD. All the side-to-side directional sway parameters were abnormal in the PD patients compared with the control subjects (P < 0.05), whereas the forward-backward directional parameters did not differentiate the two groups. The most sensitive measures of sway were path length, velocity, and area. The duration and severity of PD seem to be particularly associated with the amount of side-to-side directional postural sway. This new inclinometric method appears to be useful in quantifying postural sway and evaluating balance impairment in PD.

Aged↗
PubMed2002

Sensorimotor integration in human postural control.

It is generally accepted that human bipedal upright stance is achieved by feedback mechanisms that generate an appropriate corrective torque based on body-sway motion detected primarily by visual, vestibular, and proprioceptive sensory systems. Because orientation information from the various senses is not always available (eyes closed) or accurate (compliant support surface), the postural control system must somehow adjust to maintain stance in a wide variety of environmental conditions. This is the sensorimotor integration problem that we investigated by evoking anterior-posterior (AP) body sway using pseudorandom rotation of the visual surround and/or support surface (amplitudes 0.5-8 degrees ) in both normal subjects and subjects with severe bilateral vestibular loss (VL). AP rotation of body center-of-mass (COM) was measured in response to six conditions offering different combinations of available sensory information. Stimulus-response data were analyzed using spectral analysis to compute transfer functions and coherence functions over a frequency range from 0.017 to 2.23 Hz. Stimulus-response data were quite linear for any given condition and amplitude. However, overall behavior in normal subjects was nonlinear because gain decreased and phase functions sometimes changed with increasing stimulus amplitude. "Sensory channel reweighting" could account for this nonlinear behavior with subjects showing increasing reliance on vestibular cues as stimulus amplitudes increased. VL subjects could not perform this reweighting, and their stimulus-response behavior remained quite linear. Transfer function curve fits based on a simple feedback control model provided estimates of postural stiffness, damping, and feedback time delay. There were only small changes in these parameters with increasing visual stimulus amplitude. However, stiffness increased as much as 60% with increasing support surface amplitude. To maintain postural stability and avoid resonant behavior, an increase in stiffness should be accompanied by a corresponding increase in damping. Increased damping was achieved primarily by decreasing the apparent time delay of feedback control rather than by changing the damping coefficient (i.e., corrective torque related to body-sway velocity). In normal subjects, stiffness and damping were highly correlated with body mass and moment of inertia, with stiffness always about 1/3 larger than necessary to resist the destabilizing torque due to gravity. The stiffness parameter in some VL subjects was larger compared with normal subjects, suggesting that they may use increased stiffness to help compensate for their loss. Overall results show that the simple act of standing quietly depends on a remarkably complex sensorimotor control system.

Adaptation, Physiological↗