Spinal
cord injury (SCI) often leads to motor and sensory deficits, in
addition to other complications, such as autonomic dysfunction,
respiratory problems and urinary incontinence [1].
Among these complications, one of the major therapeutic priorities of
people with tetraplegia is the recovery of arm and hand function since
they are essential to independently perform most of the activities of
daily living (ADLs) [2,3,4].
The
rehabilitation of arm, hand and finger-related functional abilities
after SCI can follow different approaches. One of them is through
invasive procedures, like nerve and tendon transfer, in which preserved
working nerves (tendons) are surgically re-directed to proximal
non-functioning motor pathways [5].
Although this technique has the potential to produce relevant
functional outcomes, it may demand long training time for adaptation
post-surgery [5].
Another
alternative to recover hand function after SCI are activity-based
therapies. These comprise several training protocols and techniques,
usually delivered under the supervision of physical or occupational
therapist, and have the potential to increase range of motion, decrease
pain and spasticity or recover lost functional movements, relying on the
principles of neuroplasticity [6].
When the patient’s limb is activated, combining volitional control and
external assistance, sensory afferent input is produced, which triggers a
series of neurorestoration processes (e.g., synapse formation,
remyelination, neural reorganization and repair), either in supraspinal
or in spinal structures [6,7,8].
However, due to the high number of repetitions required to enhance
neuroplastic adaptations, this type of intervention can be
time-consuming and costly [7, 9, 10].
To potentially reduce treatment cost and time, and improve functional
outcomes, activity-based therapies can be supported by technological
hand neuroprostheses. In addition to therapeutical purposes, these
engineering features have been employed as assistive devices, increasing
the user’s independence and augmenting the overall practicing time.
Functional
electrical stimulation (FES) is one of the technologies used to build
neuroprostheses to support activity-based training after SCI. During a
conventional FES therapy, subjects are encouraged to voluntary activate
their muscles to perform a certain task while the FES system stimulates
the muscles using superficial or implanted electrodes [11, 12].
According to this approach, purposeful movements are produced in
parallel to a combination of cortical activation (due to the voluntary
attempt) and peripheral stimulation. The FES produces additional
afferent information thus enhancing the practice-induced brain and
spinal plasticity [13,14,15].
A common method used to trigger electrical stimulation is through a
push-button. However, a more intuitive system detects user intent via
physiological signals, e.g., electroencephalography (EEG) or
electromyography (EMG), which increases usability and learning outcomes,
by pairing stimulation with movement intention [16]. Despite promising results as a therapeutical tool [17], FES devices are limited in generating high accuracy control and muscle selectivity [18]. In this respect, implanted systems [19] or superficial multi-pad electrode matrices [20, 21]
can yield better outcomes but they still have many obstacles, such as
the limitations of its use in case of lower motor neuron damage [22, 23] or in people with cervical injury without any volitional control of the hand. [14].
Robotic
systems are also employed to support activity-based therapy for hands
after SCI. Typically, these are non-portable devices that are able to
assist end-user’s hand in a clinical setting, throughout repeatable and
predictable movement patterns [24]. However, most of these devices are bulky and are built using rigid links, which hampers the biomimetics of the human hand [25], and possibly limits the potential outcomes of the therapy [26].
In this sense, neuroprostheses based on Soft Robotics (SR) devices have
emerged as a specific category of robotic rehabilitation systems,
relying on soft actuators (usually back-drivable) and flexible links,
increasing comfort and flexibility to adjust to the contours of the
human body [25, 27,28,29].
SR devices developed for hand function are also intended to be
lightweight and portable, possibly for home-rehabilitation use, which is
important to increase end-user adherence to treatment and also to meet
assistance needs in ADLs. The underlying neuroplastic process associated
to the use of SR tools is the same as observed in conventional
activity-based therapies, since they also provide mechanical assistance
for the movement execution. However, they are intended to increase the
user engagement (by supporting activities in a daily basis) and
consequently increase the number of repetitions (practice time), for a
more affordable cost compared to the constant supervision of a
physiatrist [28].
Noticeably,
FES and SR have complementary features which encourages protocols
combining both technologies. In a recent review, Dunkelberger and
colleagues described a hybrid muscle stimulation and robotic assistance
that was used for upper limb movement in people with SCI [30].
Even if the review did not focus on hand function or in SR, the authors
concluded that the combination of FES and SR was promising, but argued
that technological advances (e.g., improve tunability, reduce size and
weight or detect user intent in an intuitive and unobtrusive way), both
in FES and robotics, should be achieved to be fully integrated in an
efficient hybrid system [30].
The
present narrative review aims to identify the effects of FES, SR and
their combination in the recovery of hand function in people with SCI.
Therefore, this review summarizes the most recent research articles that
presented any hand functional outcomes in people with SCI, using
neuroprostheses based on FES and/or SR, either for assistance or therapy
purposes. Results from this review will inform engineers on the next
steps to develop these technologies and will allow clinicians to use
this information as easy-to-use clinical guidelines.
More at link.