Powered exoskeletons can assist patients suffering from motor dysfunctions. Recent researches are focused on how to improve the communication system between patient and device. Further research is needed in order to design an EMG based robotic assistive device able to convey intended motions to the patient. The primary need is the understanding of how EMG patterns from different muscles contribute to motions. Studies on muscle synergy have shown how different muscles of lower limbs contribute to gait. This study is aimed to expand the analysis to motions other than gait by analysing ten muscles around the right knee joint. The chosen muscle were soleus, gastrocnemius medialis, gastrocnemius lateralis, peroneus longus, tibialis anterior, rectus femoris, vastus medialis, vastus lateralis, biceps femoris and semitendinosus. The main hypothesis is that specific movements are controlled by specific muscle synergies. Motion data and EMG data of eight healthy subjects have been compared in order to outline a coordination pattern specific to four different movements: gait, gait stop and balance, sit to stand and stand to sit. Through the analysis of EMG signals, three muscle synergies have been identified including muscles from the same group, i.e. four plantar flexors, three quadriceps and two hamstrings. It was possible to conclude that the four movements were controlled by the same muscle synergies with different coordination patterns. Further research is recommended to expand the knowledge about muscle synergies.

Our long-term goal is to better understand how the nervous system controls muscles to generate movement. Our overall hypothesis is that the nervous system coordinates muscles by flexibly recruiting muscle synergies, defined here as groups of muscles simultaneously activated in fixed ratios, in order to map high-level task goals into motor actions. Here we studied muscle coordination in the context of balance control - a task that requires multisensory integration and coordination of multiple muscles, yet has a clear goal of controlling the center of mass (CoM), which can be achieved by using different strategies. If muscle synergies are a common mechanism used by the nervous system for balance control, we would expect to see the same muscle synergies used in a variety of strategies. Therefore we investigated the robustness of the muscle synergies in a variety of human postural strategies, such as standing, stepping and walking, to determine whether muscle synergies are a consistent underlying mechanism used by the nervous system. We hypothesized that muscle synergies are recruited to control a task-level variable (e.g. CoM direction) that is not specific to a particular postural strategy. We demonstrated that similar muscle synergies are used in reactive responses to standing balance perturbations, in reactive stepping responses, in walking, and in reactive postural responses during walking, suggesting a common neural mechanism not only for balance control in various contexts, but for movement in general. The differences in the timing and spatial organization of muscle activity in standing, stepping, and walking postural responses were largely explained by altering the recruitment of a common set of muscle synergies, with the addition of only a single muscle synergy specific to each behavior. We demonstrated the functionality of muscle synergies by showing that each muscle synergy was correlated with a particular force produced at the ground and component of CoM acceleration both in stepping and in non-stepping postural responses. These results suggest that muscle synergies reflect the neural organization of the motor system, representing motor modules recruited to achieve a common biomechanical function across different postural behaviors. Additionally, muscle synergies used during walking were recruited during atypical phases of the gait cycle in response to an unexpected perturbation, in order to maintain balance and continue walking, suggesting a common neural mechanism for different balance requirements during walking. The compositions of muscle synergies used during walking were similar to those used during walking perturbations as well as standing balance perturbations, suggesting that muscle synergies represent common neural mechanisms for CoM movement control under different dynamic conditions. These results are of interest to a variety of fields such as rehabilitation science, prosthetics, and robotics.

abstract: Stroke is a debilitating disorder and 75% of individuals with stroke (iwS) have upper extremity deficits. IwS are prescribed therapies to enhance upper-extremity mobility, but current most effective therapies have minimum requirements that the individuals with severe impairment do not meet. Thus, there is a need to enhance the therapies. Recent studies have shown that StartReact -the involuntary release of a planned movement, triggered by a startling stimulus (e.g., loud sound)- elicits faster and larger muscle activation in iwS compared to voluntary-initiated movement. However, StartReact has been only cursorily studied to date and there are some gaps in the StartReact knowledge. Previous studies have only evaluated StartReact on single-jointed movements in iwS, ignoring more functional tasks. IwS usually have abnormal flexor activity during extension tasks and abnormal muscle synergy especially during multi-jointed tasks; therefore, it is unknown 1) if more complex multi-jointed reach movements are susceptible to StartReact, and 2) if StartReact multi-jointed movements will be enhanced in the same way as single-jointed movements in iwS. In addition, previous studies showed that individuals with severe stroke, especially those with higher spasticity, experienced higher abnormal flexor muscle activation during StartReact trials. However, there is no study evaluating the impact of this elevated abnormal flexor activity on movement, muscle activation and muscle synergy alterations during voluntary-initiated movements after exposure to StartReact. This dissertation evaluates StartReact and the voluntary trials before and after exposure to StartReact during a point-to-point multi-jointed reach task to three different targets covering a large workspace. The results show that multi-jointed reach tasks are susceptible to StartReact in iwS and the distance, muscle and movement onset speed, and muscle activations percentages and amplitude increase during StartReact trials. In addition, the distance, accuracy, muscle and movement onsets speeds, and muscle synergy similarity indices to the norm synergies increase during the voluntary-initiated trials after exposure to StartReact. Overall, this dissertation shows that exposure to StartReact did not impair voluntary-initiated movement and muscle synergy, but even improved them. Therefore, this study suggests that StartReact is safe for more investigations in training studies and therapy. / Dissertation/Thesis / Doctoral Dissertation Mechanical Engineering 2020

京都大学 / 0048 / 新制・課程博士 / 博士(人間健康科学) / 甲第21040号 / 人健博第56号 / 新制||人健||4(附属図書館) / 京都大学大学院医学研究科人間健康科学系専攻 / (主査)教授 三谷 章, 教授 澤本 伸克, 教授 髙橋 良輔 / 学位規則第4条第1項該当 / Doctor of Human Health Sciences / Kyoto University / DFAM

À la suite d’une lésion du système nerveux central tel qu’un accident vasculaire cérébral ou une lésion médullaire incomplète un ensemble de symptômes tel que la parésie, l’hyperactivité musculaire et l’hypo-extensibilité des tissus vont perturber l’organisation locomotrice du patient. Depuis quelques années, l’utilisation de méthodes mathématiques permet d’extraire à partir de l’activité électrique des muscles la commande à l’organisation locomotrice du sujet. L’objectif de ce travail de thèse est d’utiliser ces méthodes pour caractériser les spécificités du patient hémiparétique et paraparétique. Une première étude sur le sujet asymptomatique a permis de valider notre méthodologie..La deuxième étude portant sur les patients paraparétiques montre que l’asymétrie de marche est plutôt expliquée par une expression différente des symptômes plutôt qu’une réelle asymétrie provenant de la commande. Pour conclure, la troisième étude portant sur l’effet d’une anesthésie d’un muscle chez le patient hémiparétique a montré que le cerveau était en mesure de modifier la commande locomotrice pour pallier les perturbations induites par cette anesthésie. En conclusion nos travaux soulignent l’intérêt de ces méthodes comme un outil pertinent dans l’évaluation de l’organisation locomotrice chez le patient présentant une lésion du système nerveux central. / Following a central nervous system injury such as a stroke or incomplete spinal cord injury, a set of symptoms such as paresis, muscle hyperactivity and hypo-extensibility will disrupt the patient’s locomotor organization. In recent years, the use of mathematical methods has made it possible to extract, from the electrical muscle activities, the command of the locomotor organization. This thesis aimed at using these methods to characterize the specificities of the post-stroke patient and the patient with incomplete spinal cord injury. The first study of healthy individuals allowed to validate our methodology.The second study in patients with incomplete spinal cord injury showed that gait asymmetry may be explained by a different expression of symptoms rather than a real asymmetry originating from the control. Finally, the third study has investigated the effect of muscle anesthesia on the post-stroke patient. The results showed that the central nervous system was able to adapt locomotor control to compensate for the disturbances induced by this anesthesia. In conclusion, our work underlines the interest of these methods as a relevant tool in the evaluation of locomotor organization in patients with central nervous system lesions.

INTRODUCTION: Cerebral Palsy (CP) is a sensorimotor disorder characterized by dysfunctional motor coordination, balance problems, and loss of selective motor control. Motor coordination exhibited as co-contraction, has been subjectively quantified using gait analysis, but recent studies have begun to objectively analyze the amount of co-contraction by collecting electromyography (EMG) data. Center of pressure excursion (COPE) measurements collected during a single leg standing test (SLST) have shown to be more valid measurements of balance in populations with motor disabilities than a SLST alone. A recent study has correlated increased COPE velocity with a lower fall risk as determined by reported fall frequency, suggesting a more objective measure of fall risk. The current study aimed to determine if the fall risk calculated by COPE velocity in children with CP is correlated with co-contraction index value in various muscle synergy groups. It was hypothesized that i) co-contraction index values will differ between high and low fall risk groups, ii) there will be preferential activation of different synergy groups within the high and low fall risk groups, and iii) there will be a negative and direct correlation between COPE velocity and co-contraction index values for all synergy groups. METHODS: Fall risk grouping was determined by average COPE velocity values calculated from previously reported fall frequency groups. Balance ability was determined by COPE measurements during a SLST on a force plate. Muscle synergy groups were determined by common muscle pairings at the hip, knee and ankle. Co-contraction indices were determined from linear envelopes plotted from muscle group EMG data. An independent t-test was run on muscle synergy groups between high and low fall risk groups. Nonparametric Analysis of Variance (ANOVA) and Tukey post-hoc tests were run on the high and low fall risk groups separately to determine differences in co-contraction index value within high and low fall risk groups. A Pearson correlation analyzed COPE velocity and co-contraction index value. RESULTS: No significant differences in muscle synergy between the high and low fall risk groups were found (p = 0.476, 0.076, 0.064, 0.364). The ANOVA and Tukey post-hoc tests for high fall risk group found significant differences in co-activation index value between the sagittal hip and frontal hip groups (p = 0.022) and sagittal hip and ankle groups (p = 0.016). Low fall risk group was found to have significant differences between the sagittal hip and frontal hip groups (p = 0.038) and frontal hip and knee groups (p = 0.012). Weak and negative correlations were found between COPE velocity and both knee and ankle groups (r = -0.309, -0.323, p = 0.059, 0.050). Negligible and insignificant correlations were found between frontal hip and sagittal hip synergies and COPE velocity ((r = 0.013, -0.068, p = 0.475, 0.367). CONCLUSION: There is insufficient evidence to claim that muscle group activations are different depending on fall risk grouped by COPE velocity. It is not currently possible to correlate COPE velocity to a specific synergy group recruitment. However, data do suggest that sagittal hip and knee strategies are recruited more than ankle and frontal hip strategies during SLST.

Ces dernières années, des travaux importants ont été observés dans le développement du contrôle prothétique afin d'aider les personnes amputées du membre supérieur à améliorer leur qualité de vie au quotidien. Certaines prothèses myoélectriques modernes des membres supérieurs disponibles dans le commerce ont de nombreux degrés de liberté et nécessitent de nombreux signaux de contrôle pour réaliser plusieurs tâches fréquemment utilisées dans la vie quotidienne. Pour obtenir plusieurs signaux de contrôle, de nombreux muscles sont requis mais pour les personnes ayant subi une amputation du membre supérieur, le nombre de muscles disponibles est plus ou moins réduit selon le niveau de l’amputation. Pour accroître le nombre de signaux de contrôle, nous nous sommes intéressés au biceps brachial, vu qu’anatomiquement il est formé de 2 chefs et que de la présence de compartiments a été observée sur sa face interne. Physiologiquement, il a été trouvé que les unités motrices du biceps sont activées à différents endroits du muscle lors de la production de diverses tâches fonctionnelles. De plus, il semblerait que le système nerveux central puisse se servir de la synergie musculaire pour arriver à facilement produire plusieurs mouvements. Dans un premier temps on a donc identifié que la synergie musculaire était présente chez le biceps de sujets normaux et on a montré que les caractéristiques de cette synergie permettaient d’identifier la posture statique de la main lorsque les signaux du biceps avaient été enregistrés. Dans un deuxième temps, on a réussi à démontrer qu’il était possible, dans un cube présenté sur écran, à contrôler la position d’une sphère en vue d’atteindre diverses cibles en utilisant la synergie musculaire du biceps. Les techniques de classification utilisées pourraient servir à faciliter le contrôle des prothèses myoélectriques. / In recent years, important work has been done in the development of prosthetic control to help upper limb amputees improve their quality of life on a daily basis. Some modern commercially available upper limb myoelectric prostheses have many degrees of freedom and require many control signals to perform several tasks commonly used in everyday life. To obtain several control signals, many muscles are required, but for people with upper limb amputation, the number of muscles available is more or less reduced, depending on the level of amputation. To increase the number of control signals, we were interested in the biceps brachii, since it is anatomically composed of 2 heads and the presence of compartments was observed on its internal face. Physiologically, it has been found that the motor units of the biceps are activated at different places of the muscle during production of various functional tasks. In addition, it appears that the central nervous system can use muscle synergy to easily produce multiple movements. In this research, muscle synergy was first identified to be present in the biceps of normal subjects, and it was shown that the characteristics of this synergy allowed the identification of static posture of the hand when the biceps signals had been recorded. In a second investigation, we demonstrated that it was possible in a virtual cube presented on a screen to control online the position of a sphere to reach various targets by using muscle synergy of the biceps. Classification techniques have been used to improve the classification of muscular synergy features, and these classification techniques can be integrated with control algorithm that produces dynamic movement of myoelectric prostheses to facilitate the training of prosthetic control.