title: Distinctive Steady-State Heart Rate and Blood Pressure Responses to Passive Robotic Leg Exercise and Functional Electrical Stimulation during Head-Up Tilt.
abstract: Introduction:Tilt tables enable early mobilization of patients by providing verticalization. But there is a high risk of orthostatic hypotension provoked by verticalization, especially after neurological diseases such as spinal cord injury. Robot-assisted tilt tables might be an alternative as they add passive robotic leg exercise (PE) that can be enhanced with functional electrical stimulation (FES) to the verticalization, thus reducing the risk of orthostatic hypotension. We hypothesized that the influence of PE on the cardiovascular system during verticalization (i.e., head-up tilt) depends on the verticalization angle, and FES strengthens the PE influence. To test our hypotheses, we investigated the PE effects on the cardiovascular parameters heart rate (HR), and systolic and diastolic blood pressures (sBP, dBP) at different angles of verticalization in a healthy population.Methods:Ten healthy subjects on a robot-assisted tilt table underwent four different study protocols while HR, sBP, and dBP were measured: (1) head-up tilt to 60° and 71° without PE; (2) PE at 20°, 40°, and 60° of head-up tilt; (3) PE while constant FES intensity was applied to the leg muscles, at 20°, 40°, and 60° of head-up tilt; (4) PE with variation of the applied FES intensity at 0°, 20°, 40°, and 60° of head-up tilt. Linear mixed models were used to model changes in HR, sBP, and dBP responses.Results:The models show that: (1) head-up tilt alone resulted in statistically significant increases in HR and dBP, but no change in sBP. (2) PE during head-up tilt resulted in statistically significant changes in HR, sBP, and dBP, but not at each angle and not always in the same direction (i.e., increase or decrease of cardiovascular parameters). Neither adding (3) FES at constant intensity to PE nor (4) variation of FES intensity during PE had any statistically significant effects on the cardiovascular parameters.Conclusion:The effect of PE on the cardiovascular system during head-up tilt is strongly dependent on the verticalization angle. Therefore, we conclude that orthostatic hypotension cannot be prevented by PE alone, but that the preventive effect depends on the verticalization angle of the robot-assisted tilt table. FES (independent of intensity) is not an important contributing factor to the PE effect.
authors.affiliation: Sensory-Motor Systems Lab, Department of Health Sciences and Technology, Institute of Robotics and Intelligent Systems, ETH ZurichZurich, Switzerland; Reharobotics Group, Spinal Cord Injury Center, Medical Faculty, Balgrist University Hospital, University of ZurichZurich, Switzerland.
authors.forename: Amirehsan
authors.initials: A
authors.lastname: Sarabadani Tafreshi
authors.affiliation: Sensory-Motor Systems Lab, Department of Health Sciences and Technology, Institute of Robotics and Intelligent Systems, ETH ZurichZurich, Switzerland; Reharobotics Group, Spinal Cord Injury Center, Medical Faculty, Balgrist University Hospital, University of ZurichZurich, Switzerland.
authors.forename: Robert
authors.initials: R
authors.lastname: Riener
authors.affiliation: Sensory-Motor Systems Lab, Department of Health Sciences and Technology, Institute of Robotics and Intelligent Systems, ETH ZurichZurich, Switzerland; Reharobotics Group, Spinal Cord Injury Center, Medical Faculty, Balgrist University Hospital, University of ZurichZurich, Switzerland.
authors.forename: Verena
authors.initials: V
authors.lastname: Klamroth-Marganska
keywords: cardiovascular system; functional electrical stimulation (FES); linear mixed models; orthostatic hypotension; parametric bootstrap; rehabilitation robotics; robotic tilt table