Closed-Loop Control of the Centre of Pressure in Post-Stroke Patients With Balance Impairments

Claire Kemlin (1) , Fabien Vérité (2) , Veronique Marchand-Pauvert (3) , Pierre-François Pradat (4) , Pascale Pradat-Diehl (4) , Alain Giron (3) , Wael Bachta (5, 6)

1 ICM - Institut du Cerveau = Paris Brain Institute
2 ISM - Institut des Sciences du Mouvement Etienne Jules Marey
3 LIB - Laboratoire d'Imagerie Biomédicale [Paris]
4 CHU Pitié-Salpêtrière [AP-HP]
5 AGATHE - Assistance aux Gestes et Applications THErapeutiques
6 ISIR - Institut des Systèmes Intelligents et de Robotique

When a lightly touched surface is moved according to a closed-loop control law, it has been shown in young adults that the Centre of Pressure (CoP) can be displaced in a controllable way without the conscious cooperation of participants. In this closed-loop paradigm, the surface velocity was continuously adjusted according to the CoP position. Since the closed-loop control of the CoP does not require the participant's voluntary cooperation, it could be of interest for the development of innovative biofeedback devices in balance rehabilitation. Before anticipating the implementation of this closed-loop control paradigm with patients, it is necessary to establish its effects on people suffering from balance impairments. The aim of this study was to assess the effects of this CoP closed-loop control in post-stroke (PS) patients and aged-matched healthy controls. Efficacy of the closed-loop control for driving the patients' CoP was assessed using the saturation time and two scores computing the error between the predefined and the current CoP trajectories. 68% and 83% of the trials were considered as successful in patients and controls, respectively. The global tracking error of the closed-loop score was similar between the two groups. However, when examining the real CoP displacement from the starting position to the desired one, PS patients responded to the closed-loop control to a lesser extent than controls. These results, obtained in the same conditions for healthy and post-stroke individuals could be improved by tuning the closed-loop parameters according to individual characteristics. This study paves the road towards the development of involuntary/automatic biofeedback techniques in more ecological conditions.

Mots clés: centre of pressure; closed- loop control; light touch; balance; biofeedback

Domaines: Automatique / Robotique; Ingénierie biomédicale

Claire Kemlin, Fabien Vérité, Veronique Marchand-Pauvert, Pierre-François Pradat, Pascale Pradat-Diehl, et al.. Closed-Loop Control of the Centre of Pressure in Post-Stroke Patients With Balance Impairments. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2019, 27 (2), pp.265-274. ⟨10.1109/TNSRE.2019.2892177⟩. ⟨hal-02492096⟩