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.

A helping hand: roles for accessory cells in the sense of touch across species

During touch, mechanical forces are converted into electrochemical signals by tactile organs made of neurons, accessory cells, and their shared extracellular spaces. Accessory cells, including Merkel cells, keratinocytes, lamellar cells, and glia, play an important role in the sensation of touch. In some cases, these cells are intrinsically mechanosensitive; however, other roles include the release of chemical messengers, the chemical modification of spaces that are shared with neurons, and the tuning of neural sensitivity by direct physical contact. Despite great progress in the last decade, the precise roles of these cells in the sense of touch remains unclear. Here we review the known and hypothesized contributions of several accessory cells to touch by incorporating research from multiple organisms including C. elegans, D. melanogaster, mammals, avian models, and plants. Several broad parallels are identified including the regulation of extracellular ions and the release of neuromodulators by accessory cells, as well as the emerging potential physical contact between accessory cells and sensory neurons via tethers. Our broader perspective incorporates the importance of accessory cells to the understanding of human touch and pain, as well as to animal touch and its molecular underpinnings, which are underrepresented among the animal welfare literature. A greater understanding of touch, which must include a role for accessory cells, is also relevant to emergent technical applications including prosthetics, virtual reality, and robotics.

A Multiscale Approach for Predicting Certain Effects of Hand-Transmitted Vibration on Finger Arteries

Prolonged exposure to strong hand-arm vibrations can lead to vascular disorders such as Vibration White Finger (VWF). We modeled the onset of this peripheral vascular disease in two steps. The first consists in assessing the reduction in shearing forces exerted by the blood on the walls of the arteries (Wall Shear Stress—WSS) during exposure to vibrations. An acute but repeated reduction in WSS can lead to arterial stenosis characteristic of VWF. The second step is devoted to using a numerical mechano-biological model to predict this stenosis as a function of WSS. WSS is reduced by a factor of 3 during exposure to vibration of 40 m·s−2. This reduction is independent of the frequency of excitation between 31 Hz and 400 Hz. WSS decreases logarithmically when the amplitude of the vibration increases. The mechano-biological model simulated arterial stenosis of 30% for an employee exposed for 4 h a day for 10 years. This model also highlighted the chronic accumulation of matrix metalloproteinase 2. By considering daily exposure and the vibratory level, we can calculate the degree of stenosis, thus that of the disease for chronic exposure to vibrations.

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.

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.

Biophysics and Modeling of Mechanotransduction in Neurons: A Review

Mechanosensing is a key feature through which organisms can receive inputs from the environment and convert them into specific functional and behavioral outputs. Mechanosensation occurs in many cells and tissues, regulating a plethora of molecular processes based on the distribution of forces and stresses both at the cell membrane and at the intracellular organelles levels, through complex interactions between cells’ microstructures, cytoskeleton, and extracellular matrix. Although several primary and secondary mechanisms have been shown to contribute to mechanosensation, a fundamental pathway in simple organisms and mammals involves the presence of specialized sensory neurons and the presence of different types of mechanosensitive ion channels on the neuronal cell membrane. In this contribution, we present a review of the main ion channels which have been proven to be significantly involved in mechanotransduction in neurons. Further, we discuss recent studies focused on the biological mechanisms and modeling of mechanosensitive ion channels’ gating, and on mechanotransduction modeling at different scales and levels of details.

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.

Vibrotactile perception in Dupuytren disease

PURPOSE

Dupuytren disease (DD) has been associated with enlarged Pacinian corpuscles (PCs) and with PCs having a greater number of lamellae. Based on these associations, we hypothesized that subjects with DD would have altered sensitivity to high-frequency vibrations and that the changes would be more prominent at 250 Hz, where healthy subjects demonstrate the highest sensitivity.

METHODS

A novel device was created to deliver vibrations of specific frequencies and amplitudes to the fingers and palm. Using a Psi-marginal adaptive algorithm, vibrotactile perception thresholds (VPTs) were determined in 36 subjects with DD and 74 subjects without DD. Experiments were performed at 250 Hz and 500 Hz at the fingertip and palm. The VPTs were statistically analyzed with respect to disease status, age, gender, location tested, and frequency tested.

RESULTS

We found that VPT increases with age, which agrees with findings by others. Women showed greater sensitivity (i.e. lower VPT) than men. Men exhibited lower sensitivity in DD versus healthy subjects, but the results were not statistically significant. In subjects with DD presenting unilaterally, the unaffected hand was more sensitive than the affected hand, in particular for a 250 Hz stimulus applied to the finger.

CONCLUSIONS

The data on vibration sensitivity obtained from a large group of subjects with and without DD present interesting trends that may serve as a useful reference to future DD researchers. Understanding additional symptoms of DD may facilitate development of novel diagnostic or prognostic protocols.

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.

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.

Image-based multi-scale mechanical analysis of strain amplification in neurons embedded in collagen gel

A general multi-scale strategy is presented for modeling the mechanical environment of a group of neurons that were embedded within a collagenous matrix. The results of the multi-scale simulation are used to estimate the local strains that arise in neurons when the extracellular matrix is deformed. The distribution of local strains was found to depend strongly on the configuration of the embedded neurons relative to the loading direction, reflecting the anisotropic mechanical behavior of the neurons. More importantly, the applied strain on the surrounding extracellular matrix is amplified in the neurons for all loading configurations that are considered. In the most severe case, the applied strain is amplified by at least a factor of 2 in 10% of the neurons' volume. The approach presented in this paper provides an extension to the capability of past methods by enabling the realistic representation of complex cell geometry into a multi-scale framework. The simulation results for the embedded neurons provide local strain information that is not accessible by current experimental techniques.

Computational Parametric Analysis of the Mechanical Response of Structurally Varying Pacinian Corpuscles

The Pacinian corpuscle (PC) is a cutaneous mechanoreceptor that senses low-amplitude, high-frequency vibrations. The PC contains a nerve fiber surrounded by alternating layers of solid lamellae and interlamellar fluid, and this structure is hypothesized to contribute to the PC's role as a band-pass filter for vibrations. In this study, we sought to evaluate the relationship between the PC's material and geometric parameters and its response to vibration. We used a spherical finite element mechanical model based on shell theory and lubrication theory to model the PC's outer core. Specifically, we analyzed the effect of the following structural properties on the PC's frequency sensitivity: lamellar modulus (E), lamellar thickness (h), fluid viscosity (μ), PC outer radius (Ro), and number of lamellae (N). The frequency of peak strain amplification (henceforth "peak frequency") and frequency range over which strain amplification occurred (henceforth "bandwidth") increased with lamellar modulus or lamellar thickness and decreased with an increase in fluid viscosity or radius. All five structural parameters were combined into expressions for the relationship between the parameters and peak frequency, ωpeak=1.605×10-6N3.475(Eh/μRo), or bandwidth, B=1.747×10-6N3.951(Eh/μRo). Although further work is needed to understand how mechanical variability contributes to functional variability in PCs and how factors such as PC eccentricity also affect PC behavior, this study provides two simple expressions that can be used to predict the impact of structural or material changes with aging or disease on the frequency response of the PC.

Structure of the Pacinian Corpuscle: Insights Provided by Improved Mechanical Modeling

An improved model of the Pacinian corpuscle includes corrections for lamellar curvature. Results suggest that outer-zone lamellae produce a focusing effect whereby stimuli are channeled radially inwards. The requirements for this effect (large outer-surface area and thin, closely spaced lamellae) provide a rationale for the complexity of the outer-zone structure.

Micropipette aspiration of the Pacinian corpuscle

The Pacinian corpuscle (PC) is a cutaneous mechanoreceptor sensitive to high-frequency vibrations (20-1000Hz). The PC is of importance due to its integral role in somatosensation and the critical need to understand PC function for haptic feedback system development. Previous theoretical and computational studies have modeled the physiological response of the PC to sustained or vibrating mechanical stimuli, but they have used estimates of the receptor's mechanical properties, which remain largely unmeasured. In this study, we used micropipette aspiration (MPA) to determine an apparent Young's modulus for PCs isolated from a cadaveric human hand. MPA was applied in increments of 5mm H₂O (49Pa), and the change in protrusion length of the PC into the pipette was recorded. The protrusion length vs. suction pressure data were used to calculate the apparent Young's modulus. Using 10 PCs with long-axis lengths of 2.99±0.41mm and short-axis lengths of 1.45±0.22mm, we calculated a Young's modulus of 1.40±0.86kPa. Our measurement is on the same order of magnitude as those approximated in previous models, which estimated the PC to be on the same order of magnitude as skin or isolated cells, so we recommend that a modulus in the kPa range be used in future studies.