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Neurorehabilitation Technology David J. Reinkensmeyer Laura Marchal-Crespo Volker Dietz Editors Third Edition 123 Neurorehabilitation Technology David J. Reinkensmeyer . Laura Marchal-Crespo . Volker Dietz Editors Neurorehabilitation Technology Third Edition 123 Editors David J. Reinkensmeyer Laura Marchal-Crespo Department of Mechanical Delft University of Technology Aerospace Engineering Delft, The Netherlands and Department of Anatomy and Neurobiology University of California Irvine, CA, USA Volker Dietz Spinal Cord Injury Center University Hospital Balgrist Zürich, Switzerland ISBN 978-3-031-08994-7 ISBN 978-3-031-08995-4 (eBook) https://doi.org/10.1007/978-3-031-08995-4 1st edition: © Springer-Verlag London Limited 2012 2ndedition: © Springer International Publishing 2016 3rd edition © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2022 This work is subject to copyright. All rights are solely and exclusively licensed by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors, and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. This Springer imprint is published by the registered company Springer Nature Switzerland AG The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland Introduction to the Third Edition When I want to discover something, I begin by reading up everything that has been done along that line in the past—that’s what all these books in the library are for. I see what has been accomplished at great labor and expense in the past. I gather data of many thousands of experiments as a starting point, and then I make thousands more. Attributed to Thomas Edison The aim of this book is to provide a comprehensive overview of the ongoing revolution in neurorehabilitation technology. World leaders have taken the time to step back from their work, evaluate the state of the art in their field, and trace the development of their own work in creating this state of the art. We wish to provide a cutting-edge resource for those seeking to use, evaluate, and improve these technologies. There are four unique features of the book. First, we have attempted to ground the discussion of neurorehabilitation technology on neurorehabilitation science. Thus, you will find less information about the details of mechanical design or low-level machine controllers than information about the physiology of sensorimotor impairments, strategies for human-machine interaction, and the results of clinical testing. Second, we have chosen to emphasize movement rehabilitation after stroke and spinal cord injury, thereby focusing on the leading causes of disability and the largest user groups of neurorehabilitation technology. However, we note that many of the design principles discussed can transfer to a broader user group and that several chapters cover applications for people with neuromuscular disease, cognitive impairment, and cerebral palsy as well. Third, we have chosen to dedicate a greater amount of attention to robotic therapy than other approaches. This is because robotics therapy technologies have experienced the greatest growth over the past 40 years. Yet we recognize that other technologies—including neural stimulation, sensor-based devices, passive mechanical devices, exoskeletons, virtual reality, and mobile devices —show promise and are increasingly playing greater roles in the clinical delivery of rehabilitation, supplanting “traditional” robotic therapy in some cases. Therefore, we have expanded this third edition to include a greater amount of discussion of other emerging technologies. Finally, we have focused on therapeutic rather than assistive technology. That is, the emphasis here is on technologies that assist the motor system in v vi IntroductiontotheThirdEdition improving its intrinsic capacity to respond through training. We note however that the line between therapeutic and assistive devices is blurring because of emerging technologies like legged exoskeletons and spinal stimulation systems. We have organized the book into seven sections, which can roughly be divided into two halves. The first half of the book (Sects. 1–4) focuses on the design and implementation of neurorehabilitation technology. Section 1 contains three chapters that explain the relevant principles of neuroplasticity, motor learning, and sensorimotor recovery that can be used to inform neurorehabilitation technology development. Section 2 contains a set of chapters that exemplify how neurorehabilitation technology can be implemented to treat specific aspects of movement pathophysiology. Section 3 overviews principles of interactive rehabilitation technology—including issues of optimal challenge, psychophysical interaction, error manipulation, haptic interactions, expectations of end-users, and device implementation in a pediatric context. Section 4 contains three chapters on assessment technology and predictive modeling, all of which suggest working toward a precision medicine approach in rehabilitation. The second half of the book concentrates on specific technologies. Section 5 surveys a broad scope of neurorehabilitation technologies: spinal cord stimulation, functional electrical stimulation, virtual reality, wearable sensors, brain-computer interfaces, passive devices, mobile technologies for cognitive rehabilitation, and telerehabilitation. Sections 6 and 7 then provide detailed overviews of upper extremity and lower extremity robotics technologies. The book concludes with an Epilogue in the form of a debate over the current efficacy and ongoing potential of neurorehabilitation robotics. New chapters selected for the third edition include the neurophysiological basis of rehabilitation, the role of challenge for optimizing motor performance, the role of haptic interactions in promoting motor learning, computational neurorehabilitation, precision rehabilitation, spinal cord stimulation to enable walking, wearable sensors for stroke rehabilitation, mobile technologies for cognitive rehabilitation, telerehabilitation, body weight support devices, and the debate on the current and future value of rehabilitation robotics. Other chapters published in the third edition have also been substantially updated and reorganized to reflect the ongoing revolution. We hope that this book will inspire the next generation of innovators— clinicians, neuroscientists, and engineers—to move neurorehabilitation technology forward, thus benefiting the next generation of people with a neurologic impairment. Irvine, USA David J. Reinkensmeyer Delft, The Netherlands Laura Marchal-Crespo Zürich, Switzerland Volker Dietz Contents Part I Basic Framework: Motor Recovery, Learning, and Neural Impairment 1 Learning in the Damaged Brain/Spinal Cord: Neuroplasticity .... ..... .... .... .... .... .... ..... .... 3 Andreas Luft, Amy J. Bastian, and Volker Dietz 2 Movement Neuroscience Foundations of Neurorehabilitation ... .... .... .... .... .... ..... .... 19 Robert L. Sainburg and Pratik K. Mutha 3 Recovery of Sensorimotor Functions After Stroke and SCI: Neurophysiological Basis of Rehabilitation Technology . .... 41 Volker Dietz, Laura Marchal-Crespo, and David Reinkensmeyer Part II From Movement Physiology to Technology Application 4 Use of Technology in the Assessment and Rehabilitation of the Upper Limb After Cervical Spinal Cord Injury.. .... 57 José Zariffa, Michelle Starkey, Armin Curt, and Sukhvinder Kalsi-Ryan 5 Implementation of Impairment-Based Neurorehabilitation Devices and Technologies Following Brain Injury ..... .... 89 Julius P. A. Dewald, Michael D. Ellis, Ana Maria Acosta, M. Hongchul Sohn, and Thomas A. M. Plaisier 6 The Hand After Stroke and SCI: Restoration of Function with Technology... ..... .... .... .... .... .... ..... .... 113 Mohammad Ghassemi and Derek G. Kamper 7 Neural Coordination of Cooperative Hand Movements: Implications for Rehabilitation Technology .. .... ..... .... 135 Volker Dietz and Miriam Schrafl-Altermatt vii viii Contents 8 Robotic Gait Training in Specific Neurological Conditions: Rationale and Application.... .... .... .... .... ..... .... 145 Markus Wirz, Jens Bansi, Marianne Capecci, Alberto Esquenazi, Liliana Paredes, Candy Tefertiller, and Hubertus J. A. van Hedel Part III Principles for Interactive Rehabilitation Technology 9 Designing User-Centered Technologies for Rehabilitation Challenge that Optimize Walking and Balance Performance.. .... ..... .... .... .... .... .... ..... .... 191 David A. Brown, Kelli L. LaCroix, Saleh M. Alhirsan, Carmen E. Capo-Lugo, Rebecca W. Hennessy, and Christopher P. Hurt 10 Psychophysiological Integration of Humans and Machines for Rehabilitation .. .... .... .... ..... .... 207 Vesna D. Novak, Alexander C. Koenig, and Robert Riener 11 Sensory-Motor Interactions and the Manipulation of Movement Error ..... .... .... .... .... .... ..... .... 223 Pritesh N. Parmar, Felix C. Huang, and James L. Patton 12 The Role of Haptic Interactions with Robots for Promoting Motor Learning.... .... .... .... ..... .... 247 Niek Beckers and Laura Marchal-Crespo 13 Implementation of Robots into Rehabilitation Programs: Meeting the Requirements and Expectations of Professional and End Users .... .... .... .... ..... .... 263 Rüdiger Rupp and Markus Wirz 14 Clinical Application of Rehabilitation Therapy Technologies to Children with CNS Damage. .... ..... .... 289 Hubertus J. A. van Hedel, Tabea Aurich Schuler, and Jan Lieber Part IV Assessment Technology and Predictive Modeling 15 Robotic Technologies and Digital Health Metrics for Assessing Sensorimotor Disability .. .... .... ..... .... 321 Christoph M. Kanzler, Marc Bolliger, and Olivier Lambercy 16 Computational Neurorehabilitation .... .... .... ..... .... 345 Nicolas Schweighofer 17 Precision Rehabilitation: Can Neurorehabilitation Technology Help Make It a Realistic Target? .... ..... .... 357 W. Zev Rymer and D. J. Reinkensmeyer Contents ix Part V General Technological Approaches in Neurorehabilitation 18 Spinal Cord Stimulation to Enable Leg Motor Control and Walking in People with Spinal Cord Injury.. ..... .... 369 Ismael Seáñez, Marco Capogrosso, Karen Minassian, and Fabien B. Wagner 19 Functional Electrical Stimulation Therapy: Mechanisms for Recovery of Function Following Spinal Cord Injury and Stroke ... .... ..... .... .... .... .... .... ..... .... 401 Milos R. Popovic, Kei Masani, and Matija Milosevic 20 Basis and Clinical Evidence of Virtual Reality-Based Rehabilitation of Sensorimotor Impairments After Stroke .. .... ..... .... .... .... .... .... ..... .... 429 Gerard G. Fluet, Devraj Roy, Roberto Llorens, Sergi Bermúdez i Badia, and Judith E. Deutsch 21 Wearable Sensors for Stroke Rehabilitation . .... ..... .... 467 Catherine P. Adans-Dester, Catherine E. Lang, David J. Reinkensmeyer, and Paolo Bonato 22 BCI-Based Neuroprostheses and Physiotherapies for Stroke Motor Rehabilitation ... .... .... .... ..... .... 509 Jeffrey Lim, Derrick Lin, Won Joon Sohn, Colin M. McCrimmon, Po T. Wang, Zoran Nenadic, and An H. Do 23 Passive Devices for Upper Limb Training ... .... ..... .... 525 Marika Demers, Justin Rowe, and Arthur Prochazka 24 Mobile Technology for Cognitive Rehabilitation .. ..... .... 549 Amanda R. Rabinowitz, Shannon B. Juengst, and Thomas F. Bergquist 25 Telerehabilitation Technology. .... .... .... .... ..... .... 563 Verena Klamroth-Marganska, Sandra Giovanoli, Chris Awai Easthope, and Josef G. Schönhammer Part VI Robotic Technologies for Neurorehabilitation: Upper Extremity 26 Forging Mens et Manus: The MIT Experience in Upper Extremity Robotic Therapy .. .... .... ..... .... 597 Hermano Igo Krebs, Dylan J. Edwards, and Bruce T. Volpe 27 Three-Dimensional Multi-Degree-of-Freedom Arm Therapy Robot (ARMin). .... .... .... .... .... ..... .... 623 Tobias Nef, Verena Klamroth-Marganska, Urs Keller, and Robert Riener x Contents 28 Upper-Extremity Movement Training with Mechanically Assistive Devices .. ..... .... .... .... .... .... ..... .... 649 David J. Reinkensmeyer, Daniel K. Zondervan, and Martí Comellas Andrés Part VII Robotic Technologies for Neurorehabilitation: Gait and Balance 29 Technology of the Robotic Gait Orthosis Lokomat..... .... 665 Laura Marchal-Crespo and Robert Riener 30 Using Robotic Exoskeletons for Overground Locomotor Training . .... .... ..... .... .... .... .... .... ..... .... 683 Arun Jayaraman, William Z. Rymer, Matt Giffhorn, and Megan K. O’Brien 31 Beyond Human or Robot Administered Treadmill Training . .... .... ..... .... .... .... .... .... ..... .... 701 Hermano Igo Krebs, Conor J. Walsh, Tyler Susko, Lou Awad, Konstantinos Michmizos, Arturo Forner-Cordero, and Eiichi Saitoh 32 A Flexible Cable-Driven Robotic System: Design and Its Clinical Application for Improving Walking Function in Adults with Stroke, SCI, and Children with CP . .... .... ..... .... .... .... .... .... ..... .... 717 Ming Wu 33 Body Weight Support Devices for Overground Gait and Balance Training ... .... .... .... .... .... ..... .... 745 Andrew Pennycott and Heike Vallery 34 Epilogue: Robots for Neurorehabilitation—The Debate . .... 757 John W. Krakauer and David J. Reinkensmeyer Index ... .... .... .... ..... .... .... .... .... .... ..... .... 765