Effects of Supporting System on Walking based on Mutual Entrainment in Poststroke Hemiplegia Ikki Ishizawa In this study, to evaluate the effectiveness of the Walk-Mate system, which is based on mutual-entrainment dynamics, we measured the symmetry and the stability of the walking in poststroke patients with hemiplegia by using kinematic analysis and time-series analysis. The effect of Walk-Mate was compared with rhythmic auditory stimulation. The symmetry of gait was improved by the both methods, however, the stability of the gait was only improved by the Walk-Mate. These results indicate that the interactive system Walk-Mate is useful for the walking rehabilitation in poststroke. Key Words: Walk-Mate, gait disorder hemiplegia mutual adaptation, co-creation system 1. 1) 3) 4) - Walk-Mate Walk-Mate PC 5) Walk-Mate 6), 7) RAS (Rhythmic Auditory Stimulation) Thaut RAS 8) Prassas Matthew 9), 1) 1/f 1/f 11) 12) RAS Walk-Mate Walk-Mate Walk-Mate RAS 6) Walk-Mate RAS 13) Walk-Mate RAS Walk-Mate 7) Walk-Mate
Table 1 Subject characteristics Age Gender Handedness Paretic side Pathomechanism Territory Complicating disease Br.Stage Subject A 78 M R L Infarction Temporal lobe Left hemispatial neglect V Subject B 59 M R L Infarction Corona radiata - IV Subject C 74 M R L Infarction Watershed - IV-V Subject D 48 M R L Infarction Corona radiata - IV Subject E 72 M R L Hemorrhage Thalamus Left hemispatial neglect V Subject F 28 M L L Hemorrhage Putamen - V Subject G 58 M R R Hemorrhage Thalamus Aphagia IV Br.Stage:lower-limb Brunnstrom Stage 2. 2. 1 Walk-Mate RAS Walk-Mate, 2. 2 RAS Walk-Mate PC 3 m 3 Table 1 7 (28-78 ) Brunnstrom stage IV V 2. 3 Walk-Mate Walk- Mate RAS RAS 18sec 6sec ( 12sec Walk-Mate RAS Walk-Mate RAS ) 2. 4 Walk-Mate RAS PC (Panasonic CF-W5AWDBJR) Walk-Mate RAS (Victor HP-RX5) 2. 4. 1 Walk-Mate Walk-Mate Fig. 1a Walk-Mate Fig. 1b (module) (module) 5) Fig. 1 Foot Sensor Step sound Head Phone Step timing Human Walker θ m θ h Module Phase control ωm, i+1 Module Mutual-entrainment Virtual Robot Walking Robot φ hm, i Walk-Mate system a:human-robot interaction,b:dual dynamics model 14) φ d
Walk-Mate 15), 16) (1),(2) θ m = ω m + K m sin(θ h θ m ) (1) θ h = ω h + K h sin(θ m θ h ) (2) (1) (2) ω m ω h θ m θ h K m K h (3) ω m,i+1 = ω m,i 2ε(φ d φ hm,i ) (3) φ hm,i = θ h θ m φ hm,i i φ hm,i φ d (3) ω m,i+1 Walk-Mate Fig. 1 Fig. 2 PC ( S19M1F WM19M1F) PC Transmitters Receiver PC Head Phone Foot sensor Fig. 2 Experimental system Walk-Mate 2. 4. 2 RAS(Rhythmic Auditory Stimulation) RAS Walk-Mate RAS (1) K m = ω m ω m 5 2. 4. 3 Fig. 3a T LR T RL Fig. 3b (Paretic side) T LR (None-Paretic side) T RL 17) Walk- Mate Fig. 3c
Human Left Step c ) Fig. 3 Human Right Step Human Left Step ( Paretic Side ) Human Right Step ( None-Paretic Side ) Human Left Step ( Paretic Side ) Virtual Robot Left Step φ = α d Human Right Step ( None-Paretic Side ) Virtual Robot Right Step φ = +β d TLR TLR TLR TRL TRL TRL Hemiplegia gait pattern and phase control a:normal subject b:left hemiplegia patient c:phase control for improving symmetry t t t PC 2. 5. 2 7) Fig. 4b ANA- LOG DEVICE ADXL22E) L3 PC 3. T LR T RL.2rad +.2rad RAS T LR T RL 2. 5 2. 5. 1 Fig. 4a OT1BP-G (22g/cm 2 ) 19) Fig. 4a Fig. 4 Transmitter Foot sensor Transmitter Foot sensor Gait analysis system a:foot sensors b:waist sensor Accelerometer 3. 1 2. 4. 3 Walk-Mate RAS Fig. 5 Fig. 5a LHC(Left Heel Contact: Left Stance Phase Y U L Y D L RHC(Right Heel Contact: Right Stance Phase Y U R Y D R Fig. 5b Y U L Y D L Y U R Y D R LHC Y U L
Y D L Y U R Y D R (4) Y U L Y U L + Y D L.5 Y sym L Y sym R (5) Y sym L = Y U L/(Y U L + Y D L).5 (4) Y sym R = Y U R /(Y U R + Y D R ).5 (5) 3. 2 2. 4. 1 Fig. 6 θ hl θ hr (6)(7) φ l,j = θ hl (t l,j ) θ ml (t l,j ) (6) φ r,j = θ hr (t r,j ) θ mr (t r,j ) (7) φ l,j φ r,j j t l,j t r,j j (θ hl = θ hr = ) θ hl (t) θ hr (t) t θ ml (t) θ mr (t) t Fig. 6 3 LHC ( Left Heel Contact ) RHC ( Right Heel Contact ) Normal 2 1 YUL Left Stance Phase Right Stance Phase.5 1 1.5 Time [sec] 3 LHC ( Left Heel Contact ) Left-Hemiplegia 2 RHC ( Right Heel Contact ) 1 YUL Left Stance Phase Right Stance Phase.5 1. 1.5 2. Time [sec] Fig. 7 Fig. 7a Fig. 7b (8)(9) P dsd L, P dsd R φ l,j φ r,j N j v u P dsd L = t 1 NX `φl,j φ l 2 (8) N v u P dsd R = t 1 N Fig. 6 Phase Difference [rad] Phase Difference [rad] Fig. 7 φ l, j j=1 NX `φr,j φ r 2 j=1 θ ml θ hl = ( Heel contact ) Human Phase Oscillator Virtual robot Phase Oscillator Phase difference between human and robot π Left Phase Difference Right Phase Difference -π 5 1 15 2 25 3 Steps [step] π Stable Unstable Left Phase Difference Right Phase Difference -π 5 1 15 2 25 3 Steps [step] Temporal development of phase difference a:stable b:unstable (9) Fig. 5 Temporal development of gait trajectory a:normal subject b:left-hemiplegia patient
Table 2 t-test of symmetry Y sym during Walk-Mate trial Y sym during RAS trial Single-walk Walk-Mate p Effect Improvement Single-walk RAS p Effect Improvement Subject A L.216.12 ** ++.114 L.231.221.612 +.1 R -.172 -.74 ** ++.98 R -.141 -.117 * ++.24 Subject B L.461.359 ** ++.12 L.33.294 * ++.36 R -.157 -.138 ** ++.19 R -.12 -.116.465 +.4 Subject C L.45.312 ** ++.93 L.35.333.58 +.17 R -.27 -.171 ** ++.36 R -.19 -.19.97. Subject D L -.56 -.17 ** ++.39 L -.33 -.61 ** -.28 R.49.14 ** ++.35 R.28.52 ** -.24 Subject E L.412.315 ** ++.97 L.25.148.211 +.57 R -.257 -.263.81 -.6 R -.148 -.124.62 +.24 Subject F L -.21 -.38 ** -.17 L -.24 -.28.55 -.4 R.18.36 ** -.18 R.25.27.85 -.1 Subject G L -.255 -.369 * -.114 L -.229 -.354 ** -.126 R.244.338.127 -.93 R.285.318.53 -.33 : p <.5 : p <.1 (t-test) ++ significant improvement + improvement tendency :siginificant decline :decline tendency 3 2 1 LHC RHC YUL Single-walk 3 2 1 LHC RHC YUL Single-walk.5 1. 1.5 2. 2.5 3. Time [sec].5 1. 1.5 2. 2.5 3. Time [sec] 3 2 1 LHC RHC YUL Walk-Mate 3 2 1 LHC RHC YUL RAS.5 1. 1.5 2. 2.5 3. Time [msec].4.3 ** Left Right.5 1. 1.5 2. 2.5 3. Time [sec].4.3 p =.61 Left Right.2.2 Ysym.1 Ysym.1 -.1 -.1 -.2 -.3 Single-walk Walk-Mate ** Single-walk Walk-Mate -.2 -.3 Single-walk RAS * Single-walk RAS Fig. 8 Symmetry of gait trajectory (SubjectA) a:temporal development of gait trajectory b:t-test of Y sym ( : p <.5 : p <.1) Fig. 9 Symmetry of gait trajectory (SubjectA) a:temporal development of gait trajectory b:t-test of Y sym ( : p <.5 : p <.1) 4. 4. 1 Walk-Mate RAS SubjectA Fig. 8a Walk-Mate Y U L Y D L Y U R Y D R Walk-Mate Y U L Y D L Y U R Y D R Walk-Mate Y sym t Fig. 8b Walk-Mate
-.1 Fig. 1.15 t n.1 e m e v r o.5 p im m y. s Y n a e -.5 m Paretic side p =.91 None-paretic side p =.237 Walk-Mate RAS Walk-Mate RAS Wilcoxon signed-rank test of mean Y sym improvement : p <.5 : p <.1 (N=7) Walk-Mate Fig. 9a RAS RAS Y U L Y D L Y U R Y D R Fig. 9b RAS Table 2 Walk-Mate RAS Y sym L Y sym L R Y sym R Improvement Walk-Mate RAS Y sym Y sym Walk-Mate RAS Y sym Walk-Mate SubjectA B C D SubjectE SubjectF G SubjectF SubjectG RAS SubjectA B SubjectC SubjectE SubjectD F G Fig. 1 Walk-Mate RAS Improvement Wilcoxon Walk-Mate RAS Table 3 F-test of stability Walk-Mate RAS p Stability Subject A L.31 1.494 ** W > R R.226 1.527 ** W > R Subject B L.16.949 ** W > R R.157.97 ** W > R Subject C L.237.78 ** W > R R.256.877 ** W > R Subject D L.233.384 ** W > R R.199.362 ** W > R Subject E L.51 1.111 ** W > R R.56 1.35 ** W > R Subject F L.14.317 ** W > R R.146.355 ** W > R Subject G L.56 1.9 ** W > R Phase Difference [rad] Phase Difference [rad] Fig. 11 PdSd R.528 1.815 ** W > R : p <.5 : p <.1 (F-test) W > R Walk-Mate is more stable than RAS W < R RAS is more stable than Walk-Mate π Left Phase Difference Right Phase Difference -π 1 2 3 4 Steps [step] π Left Phase Difference Right Phase Difference -π 1 2 3 4 Steps [step] 2. 1.5 1..5. ** Left ** Walk-Mate Walk-Mate RAS Walk-Mate RAS RAS Right Stability of phase difference (SubjectA) a:temporal development of phase difference b:f-test of P dsd ( : p <.5 : p <.1) 4. 2 Walk-Mate Fig. 11a SubjectA Walk-Mate RAS Walk-Mate RAS
. 2. 1.5 d S d P 1. n a e m.5 Fig. 12 Paretic side * * None-paretic side Walk-Mate RAS Walk-Mate RAS Wilcoxon signed-rank test of mean P dsd : p <.5 : p <.1 (N=7) Walk-Mate RAS P dsd F Fig. 11b Walk-Mate RAS Walk-Mate RAS Table 3 Walk-Mate RAS P dsd L P dsd L R P dsd R F Walk-Mate RAS P dsd RAS Walk-Mate Fig. 12 Walk-Mate RAS P dsd Wilcoxon 5%( p =.18 p =.18) RAS Walk-Mate 5. Walk-Mate RAS 5. 1 Walk-Mate RAS Fig. 5b 17), 2) Walk-Mate RAS 4. 1 Walk-Mate RAS RAS Walk-Mate Constraint-Induced movement therapy:ci 18), 21), 22) Walk-Mate RAS Walk-Mate RAS Walk-Mate RAS CI 5. 2 4. 2 RAS RAS RAS 23)
RAS Walk-Mate Walk-Mate Walk-Mate Walk-Mate SubjectA E G Walk- Mate RAS P dsd Table 1 SubjectA SubjectE 24) 25) SubjectA E P dsd SujbectG 5. 3 RAS Walk-Mate RAS Walk-Mate Walk-Mate RAS Walk-Mate RAS 5. 4 Walk-Mate Walk-Mate 26) HRI(Human- Robot Interaction) HAI(Human-Agent Interaction) 27) 28) 6. RAS Walk-Mate Walk-Mate RAS Walk-Mate Walk-Mate RAS Walk-Mate. Walk-Mate.. 1 ( 339/397), NTT (2) 2,, 25-6, 31/317 (1997) 3,, 9-5, 637/647 (1997) 4,, 62/74, (21) 5,, -,, 371, 187/196 (21) 6, Walk-Mate,, 39, 74/81 (23) 7,,, Walk-Mate,, 42-5, 567/576 (26) 8 M.H.Thaut, G.C.McIntosh, R.R.Rice Rhythmic facili-
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