Search Results (268)

In this study, the effects of walking speed on lower limb muscle activity and gait parameters during over-ground walking were investigated in individuals with chronic stroke. Twenty-four patients with chronic stroke participated in a cross-sectional repeated-measures study, walking 20 m at three different speeds: slow (80% of self-selected speed), self-selected, and maximal speed. Surface electromyography was used to measure muscle activity in five paretic-side muscles (rectus femoris, biceps femoris, tibialis anterior, gastrocnemius, and gluteus medius), while gait parameters, including stride length, stance and swing phases, single-limb support time, and the gait asymmetry index were assessed using a triaxial accelerometer. As walking speed increased, activity in the rectus femoris, biceps femoris, and gastrocnemius muscles significantly increased during the stance and swing phases (p < 0.05), whereas the gluteus medius activity tended to decrease. Stride length on the paretic and non-paretic sides significantly increased with faster walking speed (p < 0.05); however, no significant improvements were observed in other gait parameters or gait asymmetry. These findings suggest that although increasing walking speed enhances specific muscle activities, it does not necessarily improve overall gait quality or symmetry. Therefore, rehabilitation programs should incorporate multidimensional gait training that addresses speed and neuromuscular control factors such as balance and proprioception. Full article

Background: The present study aimed to determine whether the protocolized use of pneumatic splints within neurodevelopmental therapeutic approaches produces a positive effect on sensorimotor impairments of the hemiplegic upper extremity in patients. Methods: A randomized clinical single-blind trial was conducted. Stroke patients were recruited and randomized into an experimental group, which completed a treatment protocol of splinting plus physiotherapy for 45 min per session, two sessions per week for four weeks; or a control group, which received the same type of conventional physiotherapy treatment for the same period of time. The patients were evaluated by Fugl-Meyer Assessment of the Upper Extremity (FMA-UE) and the Trunk Control Scale. Secondary variables were Mini-BEStest, the modified Ashworth scale for ankle flexors, and computerized measurements of upper limb functional parameters performed by Armeo Spring^® robotic systems and Amadeo^®. All variables were measured pre- and post-treatment. Results: Twenty stroke patients with subacute and chronic stroke completed the protocol. Mann–Whitney U tests showed statistically significant differences between groups for the FM sensation variable (Z = −2.19; p = 0.03). The rest of the variables studied in the comparison between the two study groups did not present statistically significant differences (p > 0.05). Conclusions: The use of air splints in combination with physiotherapy treatment produced improvements in exteroceptive and proprioceptive sensitivity in post-stroke adult patients in the subacute and chronic phases. Full article

This study aimed to investigate the differences in proprioceptive changes at different time points (Pre vs. Post vs. 90 min vs. 24 h) before and after ischemic preconditioning. It followed a within-subject, self-controlled design, and a total of 21 trained male participants were assessed using two-point discrimination threshold tests on thigh and knee joint position sense testing. The results demonstrated that ischemic preconditioning effectively improved proprioceptive accuracy (two-point discrimination, right lower limb, p < 0.001; two-point discrimination, left lower limb, p < 0.001; knee position sense, right lower limb, p = 0.001; knee position sense, left lower limb, p = 0.014) and stability (two-point discrimination, right lower limb, p < 0.001; two-point discrimination, left lower limb, p = 0.002; knee position sense, right lower limb, p < 0.001; knee position sense, left lower limb, p = 0.003), with the optimal time point for enhancement identified at 90 min. This research suggests administering IPC 90 min before warm-up or competition to enhance athletic performance. Full article

This survey provides a comprehensive review of the integration of large language models (LLMs) into autonomous robotic systems, organized around four key pillars: locomotion, navigation, manipulation, and voice-based interaction. We examine how LLMs enhance robotic autonomy by translating high-level natural language commands into low-level control signals, supporting semantic planning and enabling adaptive execution. Systems like SayTap improve gait stability through LLM-generated contact patterns, while TrustNavGPT achieves a 5.7% word error rate (WER) under noisy voice-guided conditions by modeling user uncertainty. Frameworks such as MapGPT, LLM-Planner, and 3D-LOTUS++ integrate multi-modal data—including vision, speech, and proprioception—for robust planning and real-time recovery. We also highlight the use of physics-informed neural networks (PINNs) to model object deformation and support precision in contact-rich manipulation tasks. To bridge the gap between simulation and real-world deployment, we synthesize best practices from benchmark datasets (e.g., RH20T, Open X-Embodiment) and training pipelines designed for one-shot imitation learning and cross-embodiment generalization. Additionally, we analyze deployment trade-offs across cloud, edge, and hybrid architectures, emphasizing latency, scalability, and privacy. The survey concludes with a multi-dimensional taxonomy and cross-domain synthesis, offering design insights and future directions for building intelligent, human-aligned robotic systems powered by LLMs. Full article

Background/Objectives: Systemic lupus erythematosus is an autoimmune disease. The musculoskeletal system is affected in 90% of patients. The most common symptoms are myalgia, arthralgia, and arthritis. The objective was to analyze the efficacy of an intervention using myofascial techniques and proprioceptive neuromuscular facilitation in patients with systemic lupus erythematosus. Methods: A randomized, single-blind, crossover clinical trial. Seventeen patients with systemic lupus erythematosus were randomly assigned to two sequences: Sequence A–B (intervention phase first, then control phase) and Sequence B–A (control phase first, then intervention phase). The intervention lasted for four weeks, with two weekly sessions lasting 50 min each. The intervention consisted of myofascial and proprioceptive neuromuscular facilitation techniques. The variables were: pain intensity (Visual Analog Scale), functional capacity of lower limbs (2-Minute Walk Test), physical function (Timed Up and Go Test), and fatigue (Fatigue Assessment Scale). After a 2-week follow-up and a 2-week washout period, the patients switched groups, and the methodology was replicated. Results: None of the patients developed injury or adverse effects as a direct consequence of the intervention. There were statistically significant differences between groups (p < 0.001) in the intensity of ankle (η²_p = 0.38) and knee (η² = 0.37) pain, functional capacity (η² = 0.33), and physical function (η² = 0.56). There were also intergroup changes in fatigue (η² = 0.52), and the relevant mental (η² = 0.26) and physical (η² = 0.45) components. Conclusions: Proprioceptive myofascial and neuromuscular facilitation techniques are safe in patients with systemic lupus erythematosus. This physical therapy protocol can improve the intensity of knee and ankle joint pain in these patients. This intervention can improve functional capacity, physical function, and fatigue in people with systemic lupus erythematosus. Full article

Hexapod robots that use external sensors to sense the environment are susceptible to factors such as light intensity or foggy weather. This effect leads to a drastic decrease in the motility of the hexapod robot. This paper proposes a motion control strategy for a blind hexapod robot. The hexapod robot is symmetrical and its environmental sensing capability is obtained by collecting proprioceptive signals from internal sensors, allowing it to pass through rugged terrain without the need for external sensors. The motion gait of the hexapod robot is generated by a central pattern generator (CPG) network constructed by Hopf oscillators. This gait is a periodic gait controlled by specific parameters given in advance. A policy network is trained in the target terrain using deep reinforcement learning (DRL). The trained policy network is able to fine-tune specific parameters by acquiring information about the current terrain. Thus, an adaptive gait is obtained. The experimental results show that the adaptive gait enables the hexapod robot to stably traverse various complex terrains. Full article

Quadruped robots have shown significant potential in disaster relief applications, where they have to navigate complex terrains for search and rescue or reconnaissance operations. However, their deployment is hindered by limited adaptability in highly uncertain environments, especially when relying solely on vision-based sensors like cameras or LiDAR, which are susceptible to occlusions, poor lighting, and environmental interference. To address these limitations, this paper proposes a novel sensor-enhanced hierarchical switching model predictive control (MPC) framework that integrates proprioceptive sensing with a bi-level hybrid dynamic model. Unlike existing methods that either rely on handcrafted controllers or deep learning-based control pipelines, our approach introduces three core innovations: (1) a situation-aware, bi-level hybrid dynamic modeling strategy that hierarchically combines single-body rigid dynamics with distributed multi-body dynamics for modeling agility and scalability; (2) a three-layer hybrid control framework, including a terrain-aware switching MPC layer, a distributed torque controller, and a fast PD control loop for enhanced robustness during contact transitions; and (3) a multi-IMU-based proprioceptive feedback mechanism for terrain classification and adaptive gait control under sensor-occluded or GPS-denied environments. Together, these components form a unified and computationally efficient control scheme that addresses practical challenges such as limited onboard processing, unstructured terrain, and environmental uncertainty. A series of experimental results demonstrate that the proposed method outperforms existing vision- and learning-based controllers in terms of stability, adaptability, and control efficiency during high-speed locomotion over irregular terrain. Full article

Diabetic peripheral neuropathy (DPN), a common complication of type 2 diabetes mellitus (T2DM), significantly impairs postural control and increases fall risk due to sensory and motor nerve dysfunction. While conventional rehabilitation is widely used, the effectiveness of technology-assisted balance training remains underexplored. This quasi-experimental study aimed to compare the impact of Biodex Balance System (BBS)-based training versus traditional exercises on balance and coordination in patients with DPN. Thirty patients with T2DM and clinically confirmed DPN were allocated into two groups (n = 15 per group): the intervention group (BBS training) and the control group (traditional exercises). Both groups trained for 8 weeks. Static balance was assessed using stability indices and clinical balance tests. Statistical analysis included paired and independent t-tests, Shapiro–Wilk tests for normality, and Cohen’s d for effect size. The BBS group demonstrated statistically significant improvements across all balance measures compared to the control group. For the most challenging condition (unstable surface, eyes closed), the mean balance index improved by 0.66° (p < 0.001; Cohen’s d = 14.25). Substantial improvements were also observed for the stable surface (eyes open: Δ = 0.34°, p < 0.001, d = 4.01) and unstable surface (eyes open: Δ = 0.23°, p < 0.001, d = 7.46). Control group gains were modest and less consistent. Balance training using the Biodex Balance System significantly enhances static balance and postural control in patients with diabetic neuropathy, outperforming traditional rehabilitation methods. These findings support integrating the BBS into structured diabetic care programs to reduce fall risk and improve functional stability. Full article

Background: Mirror therapy (MT) creates a cerebral illusion of a normal movement in a paretic limb. Although mirror therapy has been studied as a suitable intervention for children with Unilateral Cerebral Palsy (UCP), a comprehensive understanding of its full range of benefits is still lacking. Thus, the aim of this systematic review and meta-analysis was to determine all motor and sensory effects of MT in children and adolescents with UCP. Methods: Clinical trials focused on the application of MT in the upper limb (UL) of children and adolescents with UCP were included. A search was performed in PubMed, Cochrane Library, Web of Science, and LILACS databases. Eleven studies were included in this systematic review. The PEDro scale and the MINORS scale were applied to evaluate the methodological quality of randomized and non-randomized controlled trials, respectively. The Risk of Bias tool was also employed to evaluate the potential bias. In addition, the TIDieR checklist was used to assess the quality of intervention reporting. A random-effects model was used for the meta-analysis. Results: The studies included children with UCP from three to eighteen years, classified in Manual Ability Classification System levels I–IV. Motor effects of MT were found in nine studies. Also, two studies reported sensory effects on registration, perception, and proprioception abilities. Qualitative and quantitative analysis showed that MT improved manual dexterity and tactile registration in children and adolescents with UCP. Conclusions: MT is a therapy capable of inducing motor and sensory improvements in the affected UL of children with UCP. Full article

Aim: To assess the acute effects of proprioceptive neuromuscular facilitation (PNF), stretching was applied to the hamstring muscles to evaluate deep cervical flexor endurance. Potential variables correlating with endurance adaptations were examined. Methods: This randomized controlled trial performed between September 2023 and June 2024 included healthy female university students aged 18–25 years. Participants were randomly assigned to either the control or the PNF group. Variables included age, height, weight, body mass index, Beighton score, hamstring flexibility, and deep cervical flexor muscle endurance; correlations between changes in hamstring flexibility and DCF endurance were explored. Hamstring flexibility was assessed using the Passive Knee Extension Test, and deep cervical flexor endurance was assessed using the Cranio-Cervical Flexion Test. The PNF group received hold–relax exercises while controls did not receive any intervention. Results: The study included 32 control participants and 32 individuals in the PNF group. The PNF group was marginally but significantly older than the control group [22 (21–23) vs. 21 (21–22); p = 0.038]. At baseline, the PNF group showed greater hamstring flexibility (p = 0.010). Both groups showed significant improvements in hamstring flexibility (p < 0.001 for both), but the improvement in the PNF recipients was far greater (p < 0.001). Regarding deep neck flexor endurance, no significant difference was observed between the groups at baseline (p = 0.958) or in final measurements (p = 0.244), although both groups showed significant improvements from baseline (p < 0.001 for both). There were no significant correlations between the change in deep neck flexor endurance and any of the examined variables. Conclusions: Our study found that a single session of PNF stretching significantly improved hamstring flexibility but did not immediately enhance deep neck flexor endurance. This emphasizes the need for further research into longer-term interventions to assess whether interventions on hamstring flexibility can improve cervical function. Full article

Background: The vestibular Romberg test, which assesses the deterioration of balance while standing on rubber foam with closed eyes, is a well-established method in the physical neurological assessment of patients with peripheral vestibulopathy. This study aims to determine whether it can differentiate peripheral vestibulopathy from its main differential diagnosis, namely sensory ataxia, as both conditions typically present with a positive classical Romberg test. Methods: Static balance was assessed in three groups: patients with peripheral vestibulopathy, patients with pure sensory neuropathy, and healthy age-matched controls. Participants stood quietly on a force platform under varying visual and proprioceptive feedback conditions. Conventional and advanced postural sway metrics were investigated to establish a quantitative analogy to both the clinical Romberg and vestibular Romberg tests. Results: Posturographic analysis revealed that, in contrast to healthy controls, patients with vestibular disorders exhibited higher vestibular Romberg quotient values. However, the classical vestibular Romberg quotient did not show diagnostic discrimination between vestibulopathy and sensory neuropathy patients. This lack of discrimination was mainly due to the increased body sway observed in all patient groups under the “eyes open” condition. Nevertheless, a refined vestibular Romberg quotient—comparing standing on foam versus standing on firm support with eyes closed—was able to reliably distinguish vestibulopathy from sensory ataxia. This distinction was evident in both conventional linear sway and spectral postural sway metrics. Conclusions: We conclude that a refined Romberg test, performed solely under conditions of visual deprivation, offers valuable classification potential in differentiating peripheral vestibulopathy not only from healthy controls but also from patients with disequilibrium due to sensory loss. Full article

Background: Whole-body vibration (WBV) favors central integration and elaboration of proprioceptive stimuli, enhancing gait performance in individuals with Parkinson’s disease (PD). However, the effect of WBV on spatiotemporal gait kinematics in PD has been neglecting so far. This study aims to examine how exposure to WBV could influence kinematic parameters in PD. Methods: Gait kinematic parameters of 26 mild-stage PD participants (age: 66.7 ± 1.63 years) were measured using BTS G-Walk sensor during a 10 m walk test under three conditions—WBV, half squat without vibration (HS), and control condition (CC)—in a crossover randomized design. Results: Walking time was significantly slower (p < 0.01) in CC compared to WBV and HS, while no significant differences were observed between WBV and HS. Right leg propulsion was significantly lower in CC compared to HS (p < 0.01), with no significant differences between CC and WBV. Left leg propulsion was significantly lower in CC and WBV compared to HS (p < 0.01 and p < 0.05, respectively). Pelvic tilt was significantly lower (p < 0.05) in CC compared to WBV and HS, but no significant difference was observed between WBV and HS. Cadence was significantly lower (p < 0.05) in CC and WBV than HS. Conclusions: WBV shows promising effects on functional mobility and postural control in PD, with HS offering greater benefits. Exercise modalities should be carefully selected to enhance different gait parameters. Full article

(1) Background: This study aimed to assess whether older adults exhibit greater discrepancies between intended and actual motor unit recruitment, which could affect the quality of muscle activation and potentially increase the risk of falls. (2) Methods: Forty-eight physically active older women were assessed (65 ± 6 years, 164 ± 6 cm, and 76 ± 7 kg). The bioelectrical activity (EMG) of the vastus lateralis oblique (VLO) and vastus medialis oblique (VMO) muscles were assessed during isometric testing with the knee joint bent to 75 degrees. The participants were instructed to press against a stable bar for 5 s at a specific percentage of their perceived force level (at 15%, 30%, and 60% of MVC) when the EMG activity was recorded. Balance was assessed using a stabilometric platform in a standing position. (3) Results: In all three thresholds, the bioelectrical activity of the VLO and VMO muscles significantly deviated from what was expected under the assumption of a nearly linear relationship between muscle force and bioelectrical activity. In each of the three thresholds, it did not exceed 10% MVC and significantly differed only between the 15% and 60% MVC thresholds. No significant differences were found between the dominant and non-dominant sides. A significant relationship was observed between the sway area (Area 95%) and the activity of the non-dominant limb VLO muscle. (4) Conclusions: Our results suggest that older adults experience deficits in muscle activation perception, leading to discrepancies between intended and actual muscle engagement, which may affect functional task performance and potentially increase fall risk. Full article

Background: Basketball carries a high risk of both chronic and acute musculoskeletal injuries, affecting various parts of the body. Additionally, stress is a critical factor that influences athletic performance, particularly in high-pressure sports like basketball. This study aimed to investigate the impact of a specific proprioceptive training protocol on professional basketball players. Methods: Thirty male basketball players (M = 21.93, SD = 3.75 years) were divided into two groups: an experimental group (n = 15) and a control group (n = 15). The experimental group completed an adapted proprioceptive training program designed to enhance position-specific skills, following their regular team training. The control group continued to follow their routine training program without any additional proprioceptive intervention. The parameters assessed included stress levels, longitudinal body axis alignment, spinal range of motion, and total plantar load distribution. These were measured at three time points: baseline (T₀), after 4 weeks of training (T₁), and after 8 weeks of training (T₂). Results: Data analysis showed a significant reduction in stress (p < 0.001), postural alignment (p < 0.001), and spinal range of motion (p < 0.001) in the experimental group compared to the control group. Conclusions: In conclusion, the findings highlight the effectiveness of specific and detailed training programs in injury prevention, offering valuable insights for coaches and sports psychologists. Full article

Tendon-driven robots offer advantages in terms of their compliance, lightweight design, and remote actuation, making them ideal for applications requiring dexterity and safety. However, existing tendon-driven actuators often suffer from low integration and inaccurate proprioceptive sensing due to their complex pulley-based tension sensors and bulky angle sensors. This paper presents the design and control of a compact and proprioceptive modular tendon-driven actuator. The actuator features a simplified single-pulley tension sensing mechanism and a novel maze-slot fixation method, minimizing friction and maximizing the structural integrity. A 3D Hall effect sensor is employed for accurate estimation of the tendon length with minimal space usage. A feedforward PID controller and a model-based tendon length observer are proposed to enhance the dynamic performance and sensing accuracy. Bench tests demonstrate that the actuator achieves a high power density (0.441 W/g), accurate closed-loop tension control, and reliable tendon length estimations. The proposed design provides a practical and high-performance solution for tendon-driven robots, enabling more agile, compact, and robust robotic systems. Full article