The structure and function of Pacinian corpuscles: a review

Biomechanical Considerations of Refreshable Braille and Tactile Graphics Toward Equitable Access: A Review

This review highlights the biomechanical foundations of braille and tactile graphic discrimination within the context of design innovations in information access for the blind and low-vision community. Braille discrimination is a complex and poorly understood process that necessitates the coordination of motor control, mechanotransduction, and cognitive-linguistic processing. Despite substantial technological advances and multiple design attempts over the last fifty years, a low-cost, high-fidelity refreshable braille and tactile graphics display has yet to be delivered. Consequently, the blind and low-vision communities are left with limited options for information access. This is amplified by the rapid adoption of graphical user interfaces for human-computer interaction, a move that the blind and low vision community were effectively excluded from. Text-to-speech screen readers lack the ability to convey the nuances necessary for science, technology, engineering, arts, and math education and offer limited privacy for the user. Printed braille and tactile graphics are effective modalities but are time and resource-intensive, difficult to access, and lack real-time rendering. Single- and multiline refreshable braille devices either lack functionality or are extremely cost-prohibitive. Early computational models of mechanotransduction through complex digital skin tissue and the kinematics of the braille reading finger are explored as insight into device design specifications. A use-centered, convergence approach for future designs is discussed in which the design space is defined by both the end-user requirements and the available technology.

AiroTouch: enhancing telerobotic assembly through naturalistic haptic feedback of tool vibrations

Teleoperation allows workers to safely control powerful construction machines; however, its primary reliance on visual feedback limits the operator's efficiency in situations with stiff contact or poor visibility, hindering its use for assembly of pre-fabricated building components. Reliable, economical, and easy-to-implement haptic feedback could fill this perception gap and facilitate the broader use of robots in construction and other application areas. Thus, we adapted widely available commercial audio equipment to create AiroTouch, a naturalistic haptic feedback system that measures the vibration experienced by each robot tool and enables the operator to feel a scaled version of this vibration in real time. Accurate haptic transmission was achieved by optimizing the positions of the system's off-the-shelf accelerometers and voice-coil actuators. A study was conducted to evaluate how adding this naturalistic type of vibrotactile feedback affects the operator during telerobotic assembly. Thirty participants used a bimanual dexterous teleoperation system (Intuitive da Vinci Si) to build a small rigid structure under three randomly ordered haptic feedback conditions: no vibrations, one-axis vibrations, and summed three-axis vibrations. The results show that users took advantage of both tested versions of the naturalistic haptic feedback after gaining some experience with the task, causing significantly lower vibrations and forces in the second trial. Subjective responses indicate that haptic feedback increased the realism of the interaction and reduced the perceived task duration, task difficulty, and fatigue. As hypothesized, higher haptic feedback gains were chosen by users with larger hands and for the smaller sensed vibrations in the one-axis condition. These results elucidate important details for effective implementation of naturalistic vibrotactile feedback and demonstrate that our accessible audio-based approach could enhance user performance and experience during telerobotic assembly in construction and other application domains.

The auditory midbrain mediates tactile vibration sensing

Vibrations are ubiquitous in nature, shaping behavior across the animal kingdom. For mammals, mechanical vibrations acting on the body are detected by mechanoreceptors of the skin and deep tissues and processed by the somatosensory system, while sound waves traveling through air are captured by the cochlea and encoded in the auditory system. Here, we report that mechanical vibrations detected by the body's Pacinian corpuscle neurons, which are unique in their ability to entrain to high frequency (40-1000 Hz) environmental vibrations, are prominently encoded by neurons in the lateral cortex of the inferior colliculus (LCIC) of the midbrain. Remarkably, most LCIC neurons receive convergent Pacinian and auditory input and respond more strongly to coincident tactile-auditory stimulation than to either modality alone. Moreover, the LCIC is required for behavioral responses to high frequency mechanical vibrations. Thus, environmental vibrations captured by Pacinian corpuscles are encoded in the auditory midbrain to mediate behavior.

Coding of self and environment by Pacinian neurons in freely moving animals

Pacinian corpuscle neurons are specialized low-threshold mechanoreceptors (LTMRs) that are tuned to detect high-frequency vibration (~40-2000 Hz), however it is unclear how Pacinians and other LTMRs encode mechanical forces encountered during naturalistic behavior. Here, we developed methods to record LTMRs in awake, freely moving mice. We find that Pacinians, but not other LTMRs, encode subtle vibrations of surfaces encountered by the animal, including low-amplitude vibrations initiated over two meters away. Strikingly, Pacinians are also highly active during a wide variety of natural behaviors, including walking, grooming, digging, and climbing. Pacinians in the hindlimb are sensitive enough to be activated by forelimb- or upper-body-dominant behaviors. Finally, we find that Pacinian LTMRs have diverse tuning and sensitivity. Our findings suggest a Pacinian population code for the representation of vibro-tactile features generated by self-initiated movements and low-amplitude environmental vibrations emanating from distant locations.

Activity-dependent development of the body's touch receptors

We report a role for activity in the development of the primary sensory neurons that detect touch. Genetic deletion of Piezo2, the principal mechanosensitive ion channel in somatosensory neurons, caused profound changes in the formation of mechanosensory end organ structures and altered somatosensory neuron central targeting. Single cell RNA sequencing of Piezo2 conditional mutants revealed changes in gene expression in the sensory neurons activated by light mechanical forces, whereas other neuronal classes were less affected. To further test the role of activity in mechanosensory end organ development, we genetically deleted the voltage-gated sodium channel Nav1.6 (Scn8a) in somatosensory neurons throughout development and found that Scn8a mutants also have disrupted somatosensory neuron morphologies and altered electrophysiological responses to mechanical stimuli. Together, these findings indicate that mechanically evoked neuronal activity acts early in life to shape the maturation of the mechanosensory end organs that underlie our sense of gentle touch.

The brain-body disconnect: A somatic sensory basis for trauma-related disorders

Although the manifestation of trauma in the body is a phenomenon well-endorsed by clinicians and traumatized individuals, the neurobiological underpinnings of this manifestation remain unclear. The notion of somatic sensory processing, which encompasses vestibular and somatosensory processing and relates to the sensory systems concerned with how the physical body exists in and relates to physical space, is introduced as a major contributor to overall regulatory, social-emotional, and self-referential functioning. From a phylogenetically and ontogenetically informed perspective, trauma-related symptomology is conceptualized to be grounded in brainstem-level somatic sensory processing dysfunction and its cascading influences on physiological arousal modulation, affect regulation, and higher-order capacities. Lastly, we introduce a novel hierarchical model bridging somatic sensory processes with limbic and neocortical mechanisms regulating an individual's emotional experience and sense of a relational, agentive self. This model provides a working framework for the neurobiologically informed assessment and treatment of trauma-related conditions from a somatic sensory processing perspective.

Identifying potential training factors in a vibrotactile P300-BCI

Brain-computer interfaces (BCI) often rely on visual stimulation and feedback. Potential end-users with impaired vision, however, cannot use these BCIs efficiently and require a non-visual alternative. Both auditory and tactile paradigms have been developed but are often not sufficiently fast or accurate. Thus, it is particularly relevant to investigate if and how users can train and improve performance. We report data from 29 healthy participants who trained with a 4-choice tactile P300-BCI during five sessions. To identify potential training factors, we pre-post assessed the robustness of the BCI performance against increased workload in a dual task condition and determined the participants' somatosensory sensitivity thresholds with a forced-choice intensity discrimination task. Accuracy (M = 79.2% to 92.0%) and tactually evoked P300 amplitudes increased significantly, confirming successful training. Pre-post somatosensory sensitivity increased, and workload decreased significantly, but results of the dual task condition remained inconclusive. The present study confirmed the previously reported feasibility and trainability of our tactile BCI paradigm within a multi-session design. Importantly, we provide first evidence of improvement in the somatosensory system as a potential mediator for the observed training effects.

Perceptual Space of Algorithms for Three-to-One Dimensional Reduction of Realistic Vibrations

Haptics researchers often endeavor to deliver realistic vibrotactile feedback through broad-bandwidth actuators; however, these actuators typically generate only single-axis vibrations, not 3D vibrations like those that occur in natural tool-mediated interactions. Several three-to-one (321) dimensional reduction algorithms have thus been developed to combine 3D vibrations into 1D vibrations. Surprisingly, the perceptual quality of 321-converted vibrations has never been comprehensively compared to rendering of the original 3D signals. In this study, we develop a multi-dimensional vibration rendering system using a magnetic levitation haptic interface. We verify the system's ability to generate realistic 3D vibrations recorded in both tapping and dragging interactions with four surfaces. We then conduct a study with 15 participants to measure the perceived dissimilarities between five 321 algorithms (SAZ, SUM, VM, DFT, PCA) and the original recordings. The resulting perceptual space is investigated with multiple regression and Procrustes analysis to unveil the relationship between the physical and perceptual properties of 321-converted vibrations. Surprisingly, we found that participants perceptually discriminated the original 3D vibrations from all tested 1D versions. Overall, our results indicate that spectral, temporal, and directional attributes may all contribute to the perceived similarities of vibration signals.

Modelling and Design of Asymmetric Vibrations to Induce Bidirectional Force Sensation for Portable Rehabilitation Devices. IEEE Int Conf Rehabil Robot 2022;2022:1-6. [PMID: 36176088 DOI: 10.1109/icorr55369.2022.9896538] [Citation(s) in RCA: 0] [Impact Index Per Article: 0]

Assistive rehabilitation devices have been developed to help post-stroke patients to recover and live independently for a number of years. As a way to communicate with the physical world, force sensation is extremely helpful to rebuild neuroplasticity [1] during the rehabilitation process. This paper presents a model and design of asymmetric vibrations to provide bidirectional force sensation, which can be beneficial to design a portable rehabilitation haptic device. Users will feel a directional cue generated by asymmetric vibrations by holding the device. This directional cue can navigate users around in a rehabilitation training along with visual guidance and provide physical force sensations. The system consists of a current-drive single solenoid rigidly attached to a base. The system's model is verified through experiment at three different frequencies. Our analysis shows that by varying the signal's duty ratio, the direction of peak accelerations change from positive to negative. In addition, two other waveforms (saw-tooth and step-ramp) at several frequencies and different spring's stiffness are also discussed to determine the ideal characteristics of the input signal for rehabilitation applications.

Tactile sensation in birds: Physiological insights from avian mechanoreceptors

The sense of touch is ubiquitous in vertebrates and relies upon the detection of mechanical forces in the skin by the tactile end-organs of low-threshold mechanoreceptors. Significant progress has been made in understanding the mechanism of tactile end-organ function using mammalian models, but the detailed mechanics of touch sensation in Meissner and Pacinian corpuscles, the principal detectors of transient touch and vibration, remain obscure. The avian homologs of these corpuscles present an opportunity for functional study of mechanosensation in these structures, due to their relative accessibility and high abundance in the bill skin of tactile-foraging waterfowl. Here, we review the current knowledge of mechanosensory end-organs in birds and highlight the utility of the avian model to understand general principles of touch detection in the glabrous skin of vertebrates.

The Lamellar Cells of Vertebrate Meissner and Pacinian Corpuscles: Development, Characterization, and Functions

Sensory corpuscles, or cutaneous end-organ complexes, are complex structures localized at the periphery of Aβ-axon terminals from primary sensory neurons that primarily work as low-threshold mechanoreceptors. Structurally, they consist, in addition to the axons, of non-myelinating Schwann-like cells (terminal glial cells) and endoneurial- and perineurial-related cells. The terminal glial cells are the so-called lamellar cells in Meissner and Pacinian corpuscles. Lamellar cells are variably arranged in sensory corpuscles as a “coin stack” in the Meissner corpuscles or as an “onion bulb” in the Pacinian ones. Nevertheless, the origin and protein profile of the lamellar cells in both morphotypes of sensory corpuscles is quite similar, although it differs in the expression of mechano-gated ion channels as well as in the composition of the extracellular matrix between the cells. The lamellar cells have been regarded as supportive cells playing a passive role in the process of genesis of the action potential, i.e., the mechanotransduction process. However, they express ion channels related to the mechano–electric transduction and show a synapse-like mechanism that suggest neurotransmission at the genesis of the electrical action potential. This review updates the current knowledge about the embryonic origin, development modifications, spatial arrangement, ultrastructural characteristics, and protein profile of the lamellar cells of cutaneous end-organ complexes focusing on Meissner and Pacinian morphotypes.

Rhythm perception is shared between audio and haptics

A surface texture is perceived through both the sound and vibrations produced while being explored by our fingers. Because of their common origin, both modalities have a strong influence on each other, particularly at above 60 Hz for which vibrotactile perception and pitch perception share common neural processes. However, whether the sensation of rhythm is shared between audio and haptic perception is still an open question. In this study, we show striking similarities between the audio and haptic perception of rhythmic changes, and demonstrate the interaction of both modalities below 60 Hz. Using a new surface-haptic device to synthesize arbitrary audio-haptic textures, psychophysical experiments demonstrate that the perception threshold curves of audio and haptic rhythmic gradients are the same. Moreover, multimodal integration occurs when audio and haptic rhythmic gradients are congruent. We propose a multimodal model of rhythm perception to explain these observations. These findings suggest that audio and haptic signals are likely to be processed by common neural mechanisms also for the perception of rhythm. They provide a framework for audio-haptic stimulus generation that is beneficial for nonverbal communication or modern human-machine interfaces.

Vibrotactile sense might improve over time in paediatric subjects with type 1 diabetes-A mid-term follow-up using multifrequency vibrometry

AIM

Impaired vibrotactile sense, mirroring diabetic peripheral neuropathy, is present among children and adolescents with type 1 diabetes. This study aims to re-examine the vibrotactile sense of paediatric type 1 diabetes subjects in order to evaluate any alterations in the vibrotactile sense over time.

METHODS

A VibroSense Meter I device was used to determine the vibrotactile perception thresholds (VPTs) for seven frequencies from the pulp of index and little fingers and for five frequencies from metatarsal heads one and five on the sole of the foot, of 37 children and adolescents with type 1 diabetes, previously examined in a larger cohort. Subjects were followed up after a median time of 30 months. Z-scores of VPTs were calculated using previously collected normative data.

RESULTS

Vibrotactile perception thresholds improved over time at low frequencies (especially 16 Hz) on the foot, while not being statistically significant different on the rest of the frequencies, either on hand or foot. VPTs were not correlated with HbA1c.

CONCLUSION

A mid-term follow-up of vibrotactile sense in paediatric subjects with type 1 diabetes shows a conceivable normalization of previously impaired vibrotactile sense on some frequencies on the foot, indicating that vibrotactile sense might fluctuate over time.

Mechanical Impedance of Rat Glabrous Skin and Its Relation With Skin Morphometry

The mechanical impedance of intact and epidermis-peeled rat glabrous skin was studied at two sites (digit and sole) and at two frequencies (40 Hz and 250 Hz). The thicknesses of skin layers at the corresponding regions were measured histologically from intact- and peeled-skin samples in every subject. Compared to intact sole skin, digital rat skin has thicker layers and higher mechanical resistance, and it is less stiff. The resistance of the skin significantly decreased after epidermal peeling at both the digit and the sole. Furthermore, peeling caused the reactance to become positive due to inertial effects. As the frequency was increased from 40 to 250 Hz, the resistance and stiffness also increased for the intact skin, while the peeled skin showed less frictional (i.e., resistance) but more inertial (i.e., positive reactance) effects. We estimated the mechanical properties of epidermis and dermis with lumped-element models developed for both intact and peeled conditions. The models predicted that dermis has higher mass, lower stiffness, and lower resistance compared to epidermis, similar to the experimental impedance results obtained in the peeled condition which consisted mostly of dermis. The overall impedance was simulated more successfully at 40 Hz. When both frequencies are considered, the models produced consistent results for resistance in both conditions. The results imply that most of the model parameters should be frequency-dependent and suggest that mechanical properties of epidermis can be related to its thickness. These findings may help in designing artificial skin for neuroprosthetic limbs.

Characterizing Detection Thresholds for Six Orthogonal Modes of Vibrotactile Display Via Stylus With Precision Grasp

In this paper, we characterize the detection thresholds in six orthogonal modes of vibrotactile haptic display via stylus, including three orthogonal force directions and three orthogonal torque directions at the haptic interaction point. A psychophysical study is performed to determine detection thresholds over the frequency range 20-250 Hz, for six distinct styluses. Analysis of variance is used to test the hypothesis that force signals, as well as torque signals, applied in different directions have different detection thresholds. We find that people are less sensitive to force signals parallel to the stylus than to those orthogonal to the stylus at low frequencies, and far more sensitive to torque signals about the stylus than to those orthogonal to the stylus. Optimization techniques are used to determine four independent two-parameter models to describe the frequency-dependent thresholds for each of the orthogonal force and torque modes for a stylus that is approximately radially symmetric; six independent models are required if the stylus is not well approximated as radially symmetric. Finally, we provide a means to estimate the model parameters given stylus parameters, for a range of styluses, and to estimate the coupling between orthogonal modes.

Bilateral symptomatic Pacinian corpuscle hyperplasia of the adult foot

Pacinian hyperplasia in the human body has been rarely described in the literature with most cases reported involving the hand (Fassola et al., 2019). This hyperplasia is considered a reactive lesion as opposed to a neoplasm (Satge et al., 2001), with the most common presenting complaint being pain and swelling (Fassola et al., 2019). In this study, a case of bilateral Pacinian corpuscle hyperplasia in the adult foot not previously described in the literature is presented.

Vibrotactile Display of Patterned Surface Textures With Kinesthetic Haptic Devices Using Balanced Impulses

Kinesthetic haptic devices are designed primarily to display quasistatic and low-bandwidth forces and moments. Existing methods for vibrotactile display sometimes introduce haptic and/or audio artifacts. In this article, we propose a method to display vibrotactile stimulus signals of moderate to high frequency (20-500 Hz) using kinesthetic haptic devices with a standard 1 kHz haptic update rate. Our method combines symmetric square-wave signals whose periods are even multiples of the haptic update period with asymmetric square-wave signals whose periods are odd multiples of the haptic update period, while ensuring that the positive and negative impulses are balanced in both cases, and utilizing the just noticeable difference in frequency discrimination to avoid the need to display other frequencies. For frequencies at which the above method is insufficient, corresponding to a small band near 400 Hz for a 1 kHz update rate, we utilize a signal-mixing method. Our complete method is then extended to render haptic gratings by measuring scanning velocity, converting the local spatial frequency to its equivalent instantaneous temporal frequency, and displaying a single full-period vibration event. In a series of human-subject studies, we showed that our proposed method is preferred over existing methods for vibrotactile display of signals with relatively high-frequency content.

Tactile sensitivity in the rat: a correlation between receptor structure and function

Single cutaneous fibers were recorded in the median nerve of the deeply anesthetized rat and the receptor morphology in the forelimb glabrous skin was analyzed to establish a probable correlation between receptor anatomy and physiology. Receptor complexes in the glabrous skin of the rat forelimb were stained immunologically with antibodies NF-200 and PGP-9.5, confirming the presence of Meissner corpuscles and Merkel complexes within the dermal papilla similar to other mammals including primates. Both the Meissner corpuscles and Merkel cell complexes were sparse and located in the pyramidal-shaped palmer pads and the apex of the digit extremities. They were almost totally absent elsewhere in the glabrous skin. No Ruffini receptors or Pacinian corpuscles were found in our samples. A total of 92 cutaneous fibers were retained long enough for analysis. Thirty-five (38%) were characterized as rapidly adapting fibers (RA) and 57 (62%) were slowly adapting afferents (SA). Despite the very limited number of receptors at the tip of the digit, RA receptors outnumbered SA fibers 3.2/1.0. In contrast, SA fibers on the thenar pad outnumbered RA receptors by a ratio of 3–1. Despite the very limited number of low threshold mechanoreceptors in the glabrous skin of the rat forelimb, the prevalence of SA afferents in the palm and more frequent occurrence of RA afferents in the digit extremity suggest differences in functionality both for locomotion and object manipulation.

The mechanosensory neurons of touch and their mechanisms of activation

Our sense of touch emerges from an array of mechanosensory structures residing within the fabric of our skin. These tactile end organ structures convert innocuous forces acting on the skin into electrical signals that propagate to the CNS via the axons of low-threshold mechanoreceptors (LTMRs). Our rich capacity for tactile discrimination arises from the dissimilar intrinsic properties of the LTMR subtypes that innervate different regions of the skin and the structurally distinct end organ complexes with which they associate. These end organ structures comprise a range of non-neuronal cell types, which may themselves actively contribute to the transformation of tactile forces into neural impulses within the LTMR afferents. Although the mechanism and the site of transduction across end organs remain unclear, PIEZO2 has emerged as the principal mechanosensitive channel involved in light touch of the skin. Here we review the physiological properties of LTMR subtypes and discuss how features of their cutaneous end organ complexes shape subtype-specific tuning.

Anatomy of the sense of touch in sea otters: Cutaneous mechanoreceptors and structural features of glabrous skin

Sea otters (Enhydra lutris) demonstrate rapid, accurate tactile abilities using their paws and facial vibrissae. Anatomical investigations of neural organization in the vibrissal bed and somatosensory cortex coincide with measured sensitivity, but no studies describe sensory receptors in the paws or other regions of glabrous (i.e., hairless) skin. In this study, we use histology to assess the presence, density, and distribution of mechanoreceptors in the glabrous skin of sea otters: paws, rhinarium, lips, and flipper digits, and we use scanning electron microscopy to describe skin-surface texture and its potential effect on the transduction of mechanical stimuli. Our results confirm the presence of Merkel cells and Pacinian corpuscles, but not Meissner corpuscles, in all sea otter glabrous skin. The paws showed the highest density of Merkel cells and Pacinian corpuscles. Within the paw, relative densities of mechanoreceptor types were highest in the distal metacarpal pad and digits, which suggests that the distal paw is a tactile fovea for sea otters. In addition to the highest receptor density, the paw displayed the thickest epidermis. Rete ridges (epidermal projections into the dermis) and dermal papillae (dermal projections into the epidermis) were developed across all glabrous skin. These quantitative and qualitative descriptions of neural organization and physical features, combined with previous behavioral results, contribute to our understanding of how structure relates to function in the tactile modality. Our findings coincide with behavioral observations of sea otters, which use touch to maintain thermoregulatory integrity of their fur, explore objects, and capture visually cryptic prey.

Neurophysiology of slip sensation and grip reaction: insights for hand prosthesis control of slippage

Sensory feedback is pivotal for a proficient dexterity of the hand. By modulating the grip force in function of the quick and not completely predictable change of the load force, grabbed objects are prevented to slip from the hand. Slippage control is an enabling achievement to all manipulation abilities. However, in hand prosthetics, the performance of even the most innovative research solutions proposed so far to control slippage remain distant from the human physiology. Indeed, slippage control involves parallel and compensatory activation of multiple mechanoceptors, spinal and supraspinal reflexes, and higher-order voluntary behavioral adjustments. In this work, we reviewed the literature on physiological correlates of slippage to propose a three-phases model for the slip sensation and reaction. Furthermore, we discuss the main strategies employed so far in the research studies that tried to restore slippage control in amputees. In the light of the proposed three-phase slippage model and from the weaknesses of already implemented solutions, we proposed several physiology-inspired solutions for slippage control to be implemented in the future hand prostheses. Understanding the physiological basis of slip detection and perception and implementing them in novel hand feedback system would make prosthesis manipulation more efficient and would boost its perceived naturalness, fostering the sense of agency for the hand movements.

A touch of hierarchy: population receptive fields reveal fingertip integration in Brodmann areas in human primary somatosensory cortex

Several neuroimaging studies have shown the somatotopy of body part representations in primary somatosensory cortex (S1), but the functional hierarchy of distinct subregions in human S1 has not been adequately addressed. The current study investigates the functional hierarchy of cyto-architectonically distinct regions, Brodmann areas BA3, BA1, and BA2, in human S1. During functional MRI experiments, we presented participants with vibrotactile stimulation of the fingertips at three different vibration frequencies. Using population Receptive Field (pRF) modeling of the fMRI BOLD activity, we identified the hand region in S1 and the somatotopy of the fingertips. For each voxel, the pRF center indicates the finger that most effectively drives the BOLD signal, and the pRF size measures the spatial somatic pooling of fingertips. We find a systematic relationship of pRF sizes from lower-order areas to higher-order areas. Specifically, we found that pRF sizes are smallest in BA3, increase slightly towards BA1, and are largest in BA2, paralleling the increase in visual receptive field size as one ascends the visual hierarchy. Additionally, we find that the time-to-peak of the hemodynamic response in BA3 is roughly 0.5 s earlier compared to BA1 and BA2, further supporting the notion of a functional hierarchy of subregions in S1. These results were obtained during stimulation of different mechanoreceptors, suggesting that different afferent fibers leading up to S1 feed into the same cortical hierarchy.

Printing a Pacinian Corpuscle: Modeling and Performance

The Pacinian corpuscle is a highly sensitive mammalian sensor cell that exhibits a unique band-pass sensitivity to vibrations. The cell achieves this band-pass response through the use of 20 to 70 elastic layers entrapping layers of viscous fluid. This paper develops and explores a scalable mechanical model of the Pacinian corpuscle and uses the model to predict the response of synthetic corpuscles, which could be the basis for future vibration sensors. The -3dB point of the biological cell is accurately mimicked using the geometries and materials available with off-the-shelf 3D printers. The artificial corpuscles here are constructed using uncured photoresist within structures printed in a commercial stereolithography (SLA) 3D printer, allowing the creation of trapped fluid layers analogous to the biological cell. Multi-layer artificial Pacinian corpuscles are vibration tested over the range of 20-3000 Hz and the response is in good agreement with the model.

The equine navicular apparatus as a premier enthesis organ: Functional implications

Navicular syndrome has been traditionally characterized by progressive lameness with chronic degeneration of the navicular bone. Advances in imaging techniques have revealed that its associated soft tissue structures are also affected. This distribution of lesions is explained by conceptualizing the equine navicular apparatus as an enthesis organ that facilitates the dissemination of mechanical stress throughout the tissues of the foot. The navicular apparatus has the same structural adaptations to mechanical stress as the human Achilles tendon complex. These adaptations efficiently dissipate mechanical force away from the tendon's bony attachment site, thereby protecting it from failure. The comparison of these two anatomically distinct structural systems demonstrates their similar adaptations to mechanical forces, and illustrates that important functional insights can be gained from studying anatomic convergences and cross-species comparisons of function. Such a functional conceptualization of the equine navicular apparatus resolves confusion about the diagnosis of navicular syndrome and offers insights for the development of mechanically based therapies. Through comparison with the human Achilles complex, this review (1) re-conceptualizes the equine navicular apparatus as an enthesis organ in which mechanical forces are distributed throughout the structures of the organ; (2) describes the relationship between failure of the navicular enthesis organ and lesions of navicular syndrome; (3) considers the therapeutic implications of navicular enthesis organ degeneration as a form of chronic osteoarthritis; and based upon these implications (4) proposes a focus on whole body posture/motion for the development of prehabilitative and rehabilitative therapies similar to those that have already proven effective in humans.

Normative values of the vibration perception thresholds at finger pulps and metatarsal heads in healthy adults

Aims

To establish normative values of vibration perception thresholds (VPTs), using multi-frequency vibrometry at finger pulps and at metatarsal heads of the foot in healthy adults. We also aimed to investigate factors that could potentially affect VPTs such as age, sex, height, weight, foot- or handedness and skin temperature.

Methods

VPTs were examined in 924 healthy and randomly selected subjects in the southern Sweden (mean 46 years; 628 women and 296 men). Inclusion criterias were adult subjects (>18 years) in considerable health without diabetes mellitus or other nerve affecting disorders. VPTs were measured at the finger pulps of index and little finger, as well as the first and fifth metatarsal heads of the foot, through multi-frequency vibrometry using the VibroSense Meter® I device. Patient characteristics were recorded and skin temperature was measured before assessment of VPTs.

Results

We present normative values of VPTs for a large population of both male and female subjects in various ages. VPTs detoriated as age increased (0.09–0.59 dB per year; p<0.001), i.e. progressing with normal aging. Increasing skin temperature affected VPTs in finger pulps, but not at metatarsal heads, with -0.2 to -1.6 dB, i.e. vibration perception improved with higher temperatures. Height was only found to affect the VPTs of metatarsal heads (250 Hz: 0.42 dB per cm). Sex, weight and handedness did not affect the VPTs.

Conclusion

We investigated the normative values of VPTs and presented affecting factors as age, skin temperature and height. With these results, VPT testing through multi-frequency vibrometry is enabled to be used in a clinical practice as a diagnostic tool when investigating neuropathy and other neurological disorders.

The effects of vibrotactile masking on heartbeat detection: Evidence that somatosensory mechanoreceptors transduce heartbeat sensations

The ability to detect heartbeat sensations is the most common basis for inferring individual differences in sensitivity to the interoceptive stimuli generated by the visceral activity. While the sensory sources of heartbeat sensations have yet to be identified, there is a growing consensus that visceral sensation, in general, is supported not only by the interoceptive system but also by the somatosensory system, and even by exteroception. The current experiment sought evidence on this issue by exploring the effects of masking the functions of somatosensory Pacinian and non-Pacinian mechanoreceptors on the ability to detect heartbeat sensations. Twelve verified heartbeat detectors completed a multi-session experiment in which they judged heartbeat-tone and light-tone simultaneity under two vibrotactile masking conditions involving the stimulation of the sternum: (a) using 250 Hz vibrotactile stimuli to mask the Pacinian channel, and (b) using 6 Hz vibrotactile stimuli to mask the non-Pacinian channel. A no-vibration control condition in which no masking stimuli were presented was also implemented. Presentation of both the 250 Hz and the 6 Hz masking stimuli impaired the ability to judge the simultaneity of heartbeats and tones but did not influence the ability to judge the simultaneity of stimuli presented to different exteroceptive modalities (lights and tones). Our findings reinforce the view that the somatosensory system is involved in cardioception and support the conclusion that both Pacinian and non-Pacinian somatosensory mechanoreceptors are implicated in heartbeat detection.

Relationship between lamellar sensory corpuscles distributed along the upper arm's deep arteries and pulsating sensation of blood vessels

Vibration is detected by mechanoreceptors, including Pacinian corpuscles (PCs), which are widely distributed in the human body including the adventitia of large blood vessels. Although the distribution of PCs around large limb vessels has been previously reported, there remains no consensus on their distribution in the adventitia of the human deep blood vessels in the upper arm. In addition, the physiological functions of PCs located around the deep limb blood vessels remain largely unknown. This study aimed to elucidate detailed anatomical features and physiological function of lamellar sensory corpuscles structurally identified as PCs using the immunohistochemical methods around the deep vessels in the upper arm. We identified PCs in the connective tissue adjacent to the deep vessels in the upper arm using histological analysis and confirmed that PCs are located in the vascular sheath of the artery and its accompanying vein as well as in the connective tissue surrounding the vascular sheath and nerves. PCs were densely distributed on the distal side of deep vessels near the elbow. We also examined the relationship between vascular sound and pulsating sensation to evaluate the PCs functions around deep arteries and veins and found that the vascular sound made by pressing the brachial arteries in the upper arm was associated with the pulsating sensation of the examinee. Our results suggest that PCs, around deep vessels, function as bathyesthesia sensors by detecting vibration from blood vessels.

The Human Cutaneous Sensory Corpuscles: An Update

Sensory corpuscles of human skin are terminals of primary mechanoreceptive neurons associated with non-neuronal cells that function as low-threshold mechanoreceptors. Structurally, they consist of an extreme tip of a mechanosensory axon and nonmyelinating peripheral glial cells variably arranged according to the morphotype of the sensory corpuscle, all covered for connective cells of endoneurial and/or perineurial origin. Although the pathologies of sensitive corpuscles are scarce and almost never severe, adequate knowledge of the structure and immunohistochemical profile of these formations is essential for dermatologists and pathologists. In fact, since sensory corpuscles and nerves share a basic structure and protein composition, a cutaneous biopsy may be a complementary method for the analysis of nerve involvement in peripheral neuropathies, systemic diseases, and several pathologies of the central nervous system. Thus, a biopsy of cutaneous sensory corpuscles can provide information for the diagnosis, evolution, and effectiveness of treatments of some pathologies in which they are involved. Here, we updated and summarized the current knowledge about the immunohistochemistry of human sensory corpuscles with the aim to provide information to dermatologists and skin pathologists.

Electrophysiological characterisation of atrial volume receptors using ex vivo models of isolated rat cardiac atria

NEW FINDINGS

What is the central question of this study? What ex vivo preparation of the rat's cavoatrial junction is efficient for characterising atrial mechanoreceptors? What is the main finding and its importance? Of four different ex vivo preparations, static pressure, flow, open and euthermic, the optimal preparation was the euthermic one and involved direct recording from the right cardiac vagal branch with a Langendorff style perfusion at 37°C. Type A receptors were most common, and appeared insensitive to stretch and sensitive to atrial contraction. Type B and intermediate receptors were not isolated at 20°C but were observed closer to 37°C. The findings may suggest that type A and B receptors utilise different molecular transduction mechanisms.

ABSTRACT

Atrial volume receptors are a family of afferent neurons whose mechanically sensitive endings terminate in the atria, particularly at the cavoatrial junctions. These mechanosensors form the afferent limb of an atrial volume receptor reflex that regulates plasma volume. The prevailing functional classification of atrial receptors arose as a result of in vivo recordings in the cat and dog and were classified as type A, B or intermediate according to the timing of peak discharge during the cardiac cycle. In contrast, there have been far fewer studies of the common small laboratory mammals such as the rat. Using several ex vivo rat cavoatrial preparations, a total of 30 successful single cavoatrial mechanosensory recordings were obtained. These experiments show that the rat possesses type A, B and intermediate atrial mechanoreceptors as described for larger mammals. Recording these cavoatrial receptors proved challenging from the main vagus, but direct recording from the cardiac vagal branch greatly increased the yield of mechanically sensitive single units. In contrast to type A units, type B atrial mechanoreceptor activity was never observed at room temperature but required elevation of temperature to a more physiological range in order to be detected. The adequate stimulus for these receptors remains unclear; however, type A atrial receptors appear insensitive to direct atrial stretch when applied using a programmable positioner. The findings may suggest that type A and type B atrial receptors utilise different molecular transduction mechanisms.

Effects of Asymmetric Vibration Frequency on Pulling Illusions

It is known that humans experience a haptic illusion, such as the sensation of being pulled in a particular direction, when asymmetric vibrations are presented. A pulling illusion has been used to provide a force feedback for a virtual reality (VR) system and a pedestrian navigation system, and the asymmetric vibrations can be implemented in any small non-grounded device. However, the design methodology of asymmetric vibration stimuli to induce the pulling illusion has not been fully demonstrated. Although the frequency of the asymmetric vibration is important, findings on the frequency have not been reported. In this study, we clarified the influences of the effects on the pulling illusion based on the investigation of asymmetric vibration frequency differences. Two psychophysical experiments that related to the frequency of asymmetric vibration were performed. Experiment I showed that the illusion occurs for specific vibration waveforms at 40 Hz and 75 Hz. As a result of Experiment II, the threshold was the lowest when the frequency was 40 Hz, and highest when the frequency was 110 Hz. This result supports the previous hypothesis that the Meissner corpuscles and the Ruffini endings contribute to the illusion, while the Pacinian corpuscles do not.

A universal scaling law of mammalian touch

For most mammals, touch is the first sense to develop. They must feel vibrations on the surface of their skin to enable them to respond to various stimuli in their environment, a process called vibrotaction. But how do mammals perceive these vibrations? Through mathematical modeling of the skin and touch receptors, we show that vibrotaction is dominated by "surface" Rayleigh waves traveling cooperatively through all layers of the skin and bone. Applying our model to experimental data, we identify a universal scaling law for the depth of touch receptors across multiple species, indicating an evolutionarily conserved constant in the sensation of vibrations.

Peripheral Mechanobiology of Touch-Studies on Vertebrate Cutaneous Sensory Corpuscles

The vertebrate skin contains sensory corpuscles that are receptors for different qualities of mechanosensitivity like light brush, touch, pressure, stretch or vibration. These specialized sensory organs are linked anatomically and functionally to mechanosensory neurons, which function as low-threshold mechanoreceptors connected to peripheral skin through Aβ nerve fibers. Furthermore, low-threshold mechanoreceptors associated with Aδ and C nerve fibers have been identified in hairy skin. The process of mechanotransduction requires the conversion of a mechanical stimulus into electrical signals (action potentials) through the activation of mechanosensible ion channels present both in the axon and the periaxonal cells of sensory corpuscles (i.e., Schwann-, endoneurial- and perineurial-related cells). Most of those putative ion channels belong to the degenerin/epithelial sodium channel (especially the family of acid-sensing ion channels), the transient receptor potential channel superfamilies, and the Piezo family. This review updates the current data about the occurrence and distribution of putative mechanosensitive ion channels in cutaneous mechanoreceptors including primary sensory neurons and sensory corpuscles.

On Robustness of Multi-Modal Fusion—Robotics Perspective

The efficient multi-modal fusion of data streams from different sensors is a crucial ability that a robotic perception system should exhibit to ensure robustness against disturbances. However, as the volume and dimensionality of sensory-feedback increase it might be difficult to manually design a multimodal-data fusion system that can handle heterogeneous data. Nowadays, multi-modal machine learning is an emerging field with research focused mainly on analyzing vision and audio information. Although, from the robotics perspective, haptic sensations experienced from interaction with an environment are essential to successfully execute useful tasks. In our work, we compared four learning-based multi-modal fusion methods on three publicly available datasets containing haptic signals, images, and robots’ poses. During tests, we considered three tasks involving such data, namely grasp outcome classification, texture recognition, and—most challenging—multi-label classification of haptic adjectives based on haptic and visual data. Conducted experiments were focused not only on the verification of the performance of each method but mainly on their robustness against data degradation. We focused on this aspect of multi-modal fusion, as it was rarely considered in the research papers, and such degradation of sensory feedback might occur during robot interaction with its environment. Additionally, we verified the usefulness of data augmentation to increase the robustness of the aforementioned data fusion methods.

Functional organization and connectivity of the dorsal column nuclei complex reveals a sensorimotor integration and distribution hub

The dorsal column nuclei complex (DCN-complex) includes the dorsal column nuclei (DCN, referring to the gracile and cuneate nuclei collectively), external cuneate, X, and Z nuclei, and the median accessory nucleus. The DCN are organized by both somatotopy and modality, and have a diverse range of afferent inputs and projection targets. The functional organization and connectivity of the DCN implicate them in a variety of sensorimotor functions, beyond their commonly accepted role in processing and transmitting somatosensory information to the thalamus, yet this is largely underappreciated in the literature. To consolidate insights into their sensorimotor functions, this review examines the morphology, organization, and connectivity of the DCN and their associated nuclei. First, we briefly discuss the receptors, afferent fibers, and pathways involved in conveying tactile and proprioceptive information to the DCN. Next, we review the modality and somatotopic arrangements of the remaining constituents of the DCN-complex. Finally, we examine and discuss the functional implications of the myriad of DCN-complex projection targets throughout the diencephalon, midbrain, and hindbrain, in addition to their modulatory inputs from the cortex. The organization and connectivity of the DCN-complex suggest that these nuclei should be considered a complex integration and distribution hub for sensorimotor information.

Vibrotactile perception on the sole of the foot in an older group of people with normal glucose tolerance and type 2 diabetes

OBJECTIVES

To evaluate vibrotactile sense in an older group of people with normal glucose tolerance and type 2 diabetes relative to other sensory tests.

METHODS

Vibration perception thresholds on the sole of the foot (Multifrequency vibrametry and Biothesiometer) were compared to the results from evaluation of touch (monofilament), electrophysiology (sural nerve) and thermal sensation (Thermotest®).

RESULTS

Vibration perception and temperature thresholds, as well as sural nerve function, differed between normal glucose tolerance and type 2 diabetes. Measuring vibration perception thresholds at lower frequencies with multifrequency vibrametry versus biothesiometer provided correlations similar to sural nerve amplitude. Temperature thresholds correlated with vibration perception thresholds and sural nerve function. Monofilaments revealed pathology in only a few participants with type 2 diabetes.

CONCLUSIONS

In an older group of people, vibration perception thresholds show a correlation similar to sural nerve amplitude on tactile and non-tactile surfaces. Measuring a vibration perception threshold on a tactile surface in type 2 diabetes provides no clear advantage over measuring it on the medial malleolus. In older type 2 diabetes subjects, both large and small diameter nerve fibers are affected.

An inter-species computational analysis of vibrotactile sensitivity in Pacinian and Herbst corpuscles

Vibration sensing is ubiquitous among vertebrates, with the sensory end organ generally being a multilayered ellipsoidal structure. There is, however, a wide range of sizes and structural arrangements across species. In this work, we applied our earlier computational model of the Pacinian corpuscle to predict the sensory response of different species to various stimulus frequencies, and based on the results, we identified the optimal frequency for vibration sensing and the bandwidth over which frequencies should be most detectable. We found that although the size and layering of the corpuscles were very different, almost all of the 19 species studied showed very similar sensitivity ranges. The human and goose were the notable exceptions, with their corpuscle tuned to higher frequencies (130-170 versus 40-50 Hz). We observed no correlation between animal size and any measure of corpuscle geometry in our model. Based on the results generated by our computational model, we hypothesize that lamellar corpuscles across different species may use different sizes and structures to achieve similar frequency detection bands.

Coding source localization through inter-spike delay: modelling a cluster of Pacinian Corpuscles using time-division multiplexing approach

The Pacinian Corpuscle (PC) is the most sensitive mechanoreceptor in the human body found in clusters of two or three. We extended our previous model of an isolated-PC to a cluster-PC focussing on relative spike delay and displacement threshold for understanding how the stimulus location is coded. In our model, two PCs with Gaussian overlapping receptive fields are arranged beneath the skin model. For a spatiotemporal stimulus (vibration), the model response is proposed to be a time-division multiplexing of responses from two PCs within the cluster. While the spike rate characteristics and pole-zero plot of cluster-PC model show similarities with the isolated-PC model, the frequency response shows ripples after 1 kHz as the distance (d) between the PCs increases. The stimulus location [Formula: see text] and d influence the relative spike delay and the displacement threshold, but not the spike rate. The novel contributions from our model include prediction of (i) relative spike delay for various d, stimulus frequency (f), and ψ, (ii) spike rate characteristics for varying f, and (iii) displacement threshold curve as a function of frequency for various d. Although the physiological validation of the novel predictions is impractical, we have validated the relative spike delay and the displacement threshold curves with experimental data in the literature.

Dimensional Reduction for 6D Vibrotactile Display

The human hand detects high-frequency vibrations in all directions but cannot distinguish the direction, which suggests a multi-dimensional vibrotactile stimulus is haptically equivalent to some one-dimensional (1D) stimulus. In this article, we explore how a 6D vibrotactile stimulus rendered at the haptic interaction point (HIP) of a kinesthetic haptic interface, with the stylus held in a precision pen-hold grasp, is mapped to an equivalent 1D stimulus normalized by the detection threshold. We gather a large human-subjects data set in which we determine detection thresholds for 45 distinct combinations of three orthogonal forces and three orthogonal torques rendered at the HIP, at a single frequency of 108 Hz corresponding to the peak sensitivity in our prior study. Using this data set, we find a general quadratic weighting function to predict the 1D normalized stimulus for a given 6D vibrotactile stimulus. We find that including just seven (out of a possible 21) independent parameters in the symmetric weighting matrix is sufficient to capture the non-obvious coupling between forces and torques rendered at the HIP for dimensional reduction from 6D to 1D.

Pacinian neuromas and neurofibromas of the hands and fingers: a systematic review

Tumours involving Pacinian corpuscles are rare. The literature identifies two main pathological disorders: the Pacinian corpuscle neuroma or hyperplasia and the Pacinian corpuscle neurofibroma. Published data are confusing and at times conflicting. This systematic review summarizes the available data in order to support clinicians in the differential diagnosis with other tumours responsible for unclear symptoms in the hands and fingers. We identified 67 pertinent articles. Although some similarities have been described, the two tumours have relevant differences, specifically when comparing age of the patient, location, symptoms, characteristic of a mass, and aetiology. All these factors should be taken into account in order to improve diagnostic accuracy. Despite the low incidence of unsuccessful surgeries, extraordinary measures are occasionally necessary to achieve complete resolution of symptoms.

Computational and Psychophysical Experiments on the Pacinian Corpuscle's Ability to Discriminate Complex Stimuli

Recognizing and discriminating vibrotactile stimuli is an essential function of the Pacinian corpuscle. This function has been studied at length in both a computational and an experimental setting, but the two approaches have rarely been compared, especially when the computational model has a high level of structural detail. In this paper, we explored whether the predictions of a multiscale, multiphysical computational model of the Pacinian corpuscle can predict the outcome of a corresponding psychophysical experiment. The discrimination test involved either two simple stimuli with frequency in the 160-500 Hz range, or two complex stimuli formed by combining the waveforms for a 100-Hz stimulus with a second stimulus in the 160-500 Hz range. The subjects' ability to distinguish between the simple stimuli increased as the frequency increased, a result consistent with the model predictions for the same stimuli. The model also predicted correctly that subjects would find the complex stimuli more difficult to distinguish than the simple ones and also that the discriminability of the complex stimuli would show no trend with frequency difference.

Class I and Class II small leucine-rich proteoglycans in human cutaneous pacinian corpuscles

Pacinian corpuscles are onion bulb-like multilayered mechanoreceptors that consist of a complicated structure of axon terminals, Schwann related cells (inner core), endoneural related cells (intermediate layer) and perineurial related cells (outer core-capsule). The cells forming those compartments are continuous and share the properties of that covering the nerve fibers. Small leucine-rich proteoglycans are major proteoglycans of the extracellular matrix and regulate collagen fibrillogenesis, cell signalling pathways and extracellular matrix assembly. Here we used immunohistochemistry to investigate the distribution of class I (biglycan, decorin, asporin, ECM2 and ECMX) and class II (fibromodulin, lumican, prolargin, keratocan and osteoadherin) small leucine-rich proteoglycans in human cutaneous Pacinian corpuscles. The distribution of these compounds was: the inner core express decorin, biglycan, lumican, fibromodulin, osteoadherin; the intermediate layer display immunoreactivity for osteoadherin; the outer core biglycan, decorin, lumican, fibromodulin and osteoadherin; and the capsule contains biglycan, decorin, fibromodulin, and lumican. Asporin, prolargin and keratocan were undetectable. These results complement our knowledge about the distribution of small leucine-rich proteoglycans in human Pacinian corpuscles, and help to understand the composition of the extracellular matrix in these sensory formations.

Ageing of the somatosensory system at the periphery: age-related changes in cutaneous mechanoreceptors

Decline of tactile sensation associated with ageing depends on modifications in skin and both central and peripheral nervous systems. At present, age-related changes in the periphery of the somatosensory system, particularly concerning the effects on mechanoreceptors, remain unknown. Here we used immunohistochemistry to analyse the age-dependent changes in Meissner's and Pacinian corpuscles as well as in Merkel cell-neurite complexes. Moreover, variations in the neurotrophic TrkB-BDNF system and the mechanoprotein Piezo2 (involved in maintenance of cutaneous mechanoreceptors and light touch, respectively) were evaluated. The number of Meissner's corpuscles and Merkel cells decreased progressively with ageing. Meissner's corpuscles were smaller, rounded in morphology and located deeper in the dermis, and signs of corpuscular denervation were found in the oldest subjects. Pacinian corpuscles generally showed no relevant age-related alterations. Reduced expression of Piezo2 in the axon of Meissner's corpuscles and in Merkel cells was observed in old subjects, as well was a decline in the BDNF-TrkB neurotrophic system. This study demonstrates that cutaneous Meissner's corpuscles and Merkel cell-neurite complexes (and less evidently Pacinian corpuscles) undergo morphological and size changes during the ageing process, as well as a reduction in terms of density. Furthermore, the mechanoprotein Piezo2 and the neurotrophic TrkB-BDNF system are reduced in aged corpuscles. Taken together, these alterations might explain part of the impairment of the somatosensory system associated with ageing.

Feature-selective encoding of substrate vibrations in the forelimb somatosensory cortex

The spectral content of skin vibrations, produced by either displacing the finger across a surface texture¹ or passively sensing external movements through the solid substrate^2,3, provides fundamental information about our environment. Low-frequency flutter (below 50 Hz) applied locally to the primate fingertip evokes cyclically entrained spiking in neurons of the primary somatosensory cortex (S1), and thus spike rates in these neurons increase linearly with frequency^4,5. However, the same local vibrations at high frequencies (over 100 Hz) cannot be discriminated on the basis of differences in discharge rates of S1 neurons^4,6, because spiking is only partially entrained at these frequencies⁶. Here we investigated whether high-frequency substrate vibrations applied broadly to the mouse forelimb rely on a different cortical coding scheme. We found that forelimb S1 neurons encode vibration frequency similarly to sound pitch representation in the auditory cortex^7,8: their spike rates are selectively tuned to a preferred value of a low-level stimulus feature without any temporal entrainment. This feature, identified as the product of frequency and a power function of amplitude, was also found to be perceptually relevant as it predicted behaviour in a frequency discrimination task. Using histology, peripheral deafferentation and optogenetic receptor tagging, we show that these selective responses are inherited from deep Pacinian corpuscles located adjacent to bones, most densely around the ulna and radius and only sparsely along phalanges. This mechanoreceptor arrangement and the tuned cortical rate code suggest that the mouse forelimb constitutes a sensory channel best adapted for passive 'listening' to substrate vibrations, rather than for active texture exploration.

Strong association between vibration perception thresholds at low frequencies (4 and 8 Hz), neuropathic symptoms and diabetic foot ulcers

Aims

To investigate whether multi-frequency measurement of vibration perception thresholds (VPTs) can identify individuals with a high risk of developing diabetic foot ulcer or neuropathic symptoms.

Methods

VPTs were measured at six different frequencies (4, 8, 16, 32, 64 and 125 Hz) on metatarsal heads 1 and 5 on the sole of the foot using a standard VibroSense Meter device in 535 type 1 diabetic (T1DM) patients and 717 non-diabetic control subjects. VPTs in control subjects were used to establish normal values for five different age groups for male and female subjects respectively. Normal values were defined as a VPT below the mean plus 1.66 x standard deviation for each group. Various definitions of abnormal VPTs were tested using either all frequencies, only lowest VPT frequencies (4 and 8 Hz) or only highest VPT frequencies (64 and 125 Hz).

Results

The VPTs were higher in T1DM patients than in non-diabetic control subjects matched for age and gender. The low frequencies, 4 and 8 Hz, particularly were associated with the risk of diabetic foot ulcer (OR 40.7 [5.4–308.4], p = 0.0003) and with difficulties in balance and or gait (OR 1.89 [1.04–3.46], p = 0.04) difficulties and weakness (OR 2.77 [1.25–6.16], p = 0.01). The VPTs at the 125 Hz frequency were higher in short duration (≤ 10 yrs.) T1DM patients compared to age- and gender-matched control subjects.

Conclusions

Vibration perception thresholds at low frequencies seem to be a better indicator of the risk of developing diabetic foot ulcers, gait or balance problems or weakness of the foot. The 125 Hz frequency, however, seemed to be impaired earlier and it was the only pathological VPT frequency in patients with short duration of diabetes.This study suggests that at least four different frequencies (4, 8, 64 and 125 Hz) should be included in any examination in order to obtain a complete evaluation of the risk factors for diabetic neuropathy and diabetic foot ulcers.

Effects of vibrotactile feedback and grasp interface compliance on perception and control of a sensorized myoelectric hand

Current myoelectric prosthetic limbs are limited in their ability to provide direct sensory feedback to users, which increases attentional demands and reliance on visual cues. Vibrotactile sensory substitution (VSS), which can be used to provide sensory feedback in a non-invasive manner has demonstrated some improvement in myoelectric hand control. In this work, we developed and tested two VSS configurations: one with a single burst-rate modulated actuator and another with a spatially distributed array of five coin tactors. We performed a direct comparative assessment of these two VSS configurations with able-bodied subjects to investigate sensory perception, myoelectric control of grasp force and hand aperture with a prosthesis, and the effects of interface compliance. Six subjects completed a sensory perception experiment under a stimulation only paradigm; sixteen subjects completed experiments to compare VSS performance on perception and graded myoelectric control during grasp force and hand aperture tasks; and ten subjects completed experiments to investigate the effect of mechanical compliance of the myoelectric hand on the ability to control grasp force. Results indicated that sensory perception of vibrotactile feedback was not different for the two VSS configurations in the absence of active myoelectric control, but it was better with feedback from the coin tactor array than with the single actuator during myoelectric control of grasp force. Graded myoelectric control of grasp force and hand aperture was better with feedback from the coin tactor array than with the single actuator, and myoelectric control of grasp force was improved with a compliant grasp interface. Further investigations with VSS should focus on the use of coin tactor arrays by subjects with amputation in real-world settings and on improving control of grasp force by increasing the mechanical compliance of the hand.