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The ability of the cat's ankle joint to track various input signals when controlled by electrically elicited motor unit recruitment, firing rate and antagonist muscle coactivation was examined. Pseudo-random, sinusoidal and staircase signals were used to control the soleus and tibialis anterior muscles isometrically and with a 250-g pendulum. Tracking was evaluated through cross correlation for pseudo-random and sinusoidal signals, and by rise time and steady-state error in step signals. Better tracking was obtained in isometric conditions than in load-moving conditions. Pseudo-random signals resulted in 250-ms delay between input and isometric torque output. For load-moving conditions, 340-ms and 400-ms delay in torque and angle were obtained. For sinusoids, delays decreased from 240 ms at 0.5 Hz, to 140 ms at 2 Hz in isometric conditions. Time delays for angle were between 300 and 400 ms, decreasing as frequency increased. Poor cross correlation was found for torque in load-moving conditions, because of pendulum nonlinear dynamics. Step size was not uniform in staircase trials, with steady-state errors between 9% and 39%, and rise times between 200 and 1000 ms. It is concluded that open-loop joint control results in poor tracking, presumably because it is devoid of feedback mechanisms.

Medical evaluation was performed on a group of paraplegics who were trained to walk with the Reciprocating Gait Orthosis powered with electrical muscle stimulation (RGO II). The evaluation included changes in spasticity, cholesterol level, bone metabolism, cardiac output and stroke volume, vital capacity, knee extensors torque, and heart rate at the end of a 30-meter walk. After an average of 14 weeks of training during which patients walked for 3 hours per week, significant reductions in spasticity, total cholesterol and low-density lipids, hydroxyproline/creatinine ratio, and increased knee extensor torque were evident. The data also showed that improvements occurred in the calcium/creatinine ratio, serum calcium and alkaline phosphatase levels, cardiac output and stroke volume, and vital capacity, yet these improvements were not statistically significant. The final heart rate at the end of a 30-meter walk showed that the RGO II required only a moderate level of exertion, which was found to be the lowest among the other mechanical or muscle stimulation orthoses available to paraplegics. It was concluded that the limited but reasonable level of functional regain provided by the RGO II is associated with a general improvement in the paraplegic's physiological condition if used for a minimum of 3 to 4 hours per week.

Seventy paraplegics were fitted with an improved Reciprocating Gait Orthosis powered with or without (low-level injury) electrical stimulation of the thigh muscles (RGO II) as a secondary rehabilitation phase after the acute period. The patients comprised a broad cross-section of the paraplegic population applying for medical services and varied in age from 16 to 55 years, time since injury ranging from less than 1 to 15 years, injury levels ranging from C-6/7 to T-11/12, and varying levels of spasticity, contractures, scoliosis and other related medical and physiologic problems. The success/failure ratio was dependent on the injury level, which was 1:1 for paraplegics with injury level at C-6/7; 1.67:1 for those with injury of T-1/3; and about 4:1 for paraplegics with injury level from T-3 to T-12. Lack of motivation and medical problems unrelated to the RGO II treatment were the primary reasons for failure. The duration of treatment (outpatient service three times per week) ranged from 2 to 48 weeks (mean: 16). Forty-one patients who completed the RGO II rehabilitation and were sent home with the orthosis for independent use (for at least 6 months and up to 3 years) were surveyed by a staff member for analysis of the meaning and impact of the RGO II on the patient's life and health, and potential problems. It was shown that 80.5% of the 41 patients were regular users and 19.5% were non-users. Thirty-eight of the 41 patients declined an offer to return the RGO II equipment for a full refund, while three patients were willing to return the orthosis. It was concluded that the RGO II is viable orthosis for restoring standing and limited walking in paraplegics while providing sufficient function, safety, and reliability. The most appropriate patients for the use of such an orthosis consist primarily of those with T-3 to T-12 injury level and good motivation, although highly selected patients with higher injury levels also can benefit from its use. Regular use of the RGO II, even for exercise only, had a general positive impact on the patients' health and outlook.

The performance of various coactivation strategies to control agonist-antagonist muscles in functional electrical stimulation (FES) applications was examined in a cat model using the tibialis anterior and soleus muscles to produce ankle isometric dorsiflexion and plantarflexion torques, respectively. Three types of coactivation strategies were implemented and tested. The first strategy was based on coactivation maps described in the literature as consisting of decreasing antagonistic activity as the input command to the agonist was increased. The second type of strategy was based on the physiologic coactivation data collected from normal subjects exhibiting joint stabilization during the full range of contractions. These strategies included scaled increasing antagonist activity and therefore joint stiffness with increasing agonist input command. A third strategy was devised which at low force levels mimicked the strategies described in the literature and at high force levels resembled strategies exhibited by normal subjects. The three strategies were evaluated based on their ability to track a linear or sinusoidal input command and their efficiency of torque transmission across the joint. Coactivation strategies using increasing antagonist activity resulted in decreased maximal joint torque and efficiency, decreased signal tracking capability for linear inputs, and increased harmonic distortion for sinusoidal inputs. Peak efficiency and tracking ability appeared when a moderate degree of antagonist activity was engaged near the neutral joint position. Signal tracking quality improved with earlier engagement of the antagonist muscles. Our results suggest that strategies combining low-level coactivation as described in the physiological literature and previous FES studies could satisfactorily address the issues of controllability, efficiency, and long-term joint integrity.

An electrical nerve stimulation technique, using single tripolar electrode, was shown to be capable of recruiting motor units according to their size, while allowing simultaneous but independent control of firing rate in the active units. Test paradigms consisting of established fundamental physiological concepts of soleus-gastrocnemius architecture, firing rate behaviour of motor units of different sizes, and their susceptibility to fatigue were employed to validate the technique and demonstrate its utility as a basic and applied research tool.

The relationship between maximal velocity and load was studied in nine muscles of the cat's hind limb using a technique in which the initial and final muscle lengths are determined by equilibrium of a suspended mass and the muscle's passive and active forces elicited by tetanic stimulation. The maximal velocities of shortening during contraction under each of various loads was used to fit a Hill model using the least-squares method. It was shown that different muscles varied significantly in their ability to generate maximal velocity over a range of loads. The tibialis anterior muscle generate the highest velocity (28.4 cms-1), whereas the tibialis posterior generated the lowest maximal velocity (4.2 cms-1). In general, muscles with predominantly fast twitch fibres and with the largest elongation/shortening range displaced the load at the highest velocities, as compared with muscles with predominantly slow twitch and short excursion range which respond with low velocities. The a/P0 ratio of Hill's equation, which defines the curvature of the force velocity, also varied widely, being most monotonic (0.927) for the soleus and the steepest (0.067) for the extensor digitorum longus, further suggesting that fibre composition is also highly influential on the force-velocity relations of the muscle. [ABSTRACT FROM AUTHOR]

The frequency response model of the soleus muscle of the cat was determined as a function of various firing rate and recruitment control strategies and at various force oscillation levels. We found that the basic frequency response models of the muscle during individual force oscillations at various control strategies in which the motor unit population of the muscle was fully recruited to obtain 50 per cent and up to 100 per cent of the maximum force, either concurrently with firing rate increase or at constant firing rate, were nearly identical. The model consisted of a second-order, linear low-pass filter with double poles at 1.85 Hz and a pure time delay of 16 ms. The model resulting from only firing rate increase from the frequency of fusion of the smallest motor unit to the maximum tetanic rate of the muscle while all the motor units were continuously active was nonlinear, and depended on the force's oscillation level. This nonlinear response of the rate coding process is also identified as the source of the increased harmonic distortion in the model where the initial 50 per cent of the force was generated by fully recruiting all the motor units, and the final 50 per cent of the force was generated by firing rate increase. We concluded that the basic frequency response model of a muscle under conditions similar to voluntary contraction consists of a linear, second-order system which is robust and independent of control strategy and force perturbation level. [ABSTRACT FROM AUTHOR]