Balance prosthesis based on micromechanical sensors using vibrotactile feedback of tilt

Improving electrotactile communication with a multi-pad electrode under cognitive load

BACKGROUND

Electrotactile systems are compact interfaces that can be used to convey information through the skin by producing a range of haptic sensations. In many applications, however, the user needs to perceive and interpret haptic stimulation while being engaged in parallel activities. Developing methods that ensure reliable recognition of electrotactile messages despite additional cognitive load is, therefore, an important step for the practical application of electrotactile displays.

METHODS

This study investigated if a simple strategy of repeating electrotactile messages can improve message identification during multitasking. Ten participants identified 36 spatiotemporal electrotactile messages delivered through a 3 × 2 pad-matrix electrode placed on the torso while performing a concomitant cognitive task in three conditions: the messages were presented once (No-REP), and each message was repeated three (REP3) and five (REP5) times. The main outcome measure was the success rate (SR) of message identification.

RESULTS

During multitasking, in the No-REP condition, the SR (median (IQR)) dropped to 56.25% (22.62%), demonstrating that the cognitive task decreased performance. However, the SR significantly improved with message repetitions, reaching 72.92% (21.87%) and 81.25% (18.66%) in REP3 and REP5 conditions respectively, without a statistically significant difference between REP3 and REP5.

CONCLUSIONS

Multitasking affected the efficacy of haptic communication, but message repetition was shown to be an effective strategy for improving performance. Additionally, only three repetitions were enough, as an additional increase in the duration of message transmission (5 repetitions) did not lead to further improvement. This study is an important step toward delivering electrotactile communication that can cope with the demands of real-world applications.

Encoding of spatial patterns using electrotactile stimulation via a multi-pad electrode placed on the torso

BACKGROUND

Tactile stimulation can be used to convey information to a user in different scenarios while avoiding overloading other senses. Tactile messages can be transmitted as spatial patterns, potentially allowing for a high information throughput. The aim of the present study was to design and test different encoding schemes to determine the best approach for conveying spatial patterns.

METHODS

Encoding schemes with simultaneous (SIM) and sequential pad activation (SEQ) were evaluated, including four SEQ variants designed to potentially facilitate the recognition. In SEQ-col and SEQ-row, the column and row of the activated pad were signified using different frequencies, while SEQ-all and SEQ-all-fast included the activation of all pads where those belonging to the pattern were indicated by changes in frequency (ON pads). The success rate (SR) of the pattern identification and the response time were quantified in 15 participants who recognized 20 patterns delivered through a 3 × 2 pad matrix placed on the lateral torso.

RESULTS

SIM was not a feasible method to present the patterns (median, 15%; IQR, 5%). The SR improved with SEQ (median, 60%; IQR, 20%) and further increased with additional cues, particularly with SEQ-row (median, 78.3%; IQR, 23.3%) and SEQ-all (median, 96.7%; IQR, 5%). Importantly, the stimulation time of SEQ-all could be decreased without a substantial drop in accuracy (SEQ-all-fast: median, 89.2%; IQR, 19.2%).

CONCLUSIONS

The spatiotemporal stimulation with sequential activation of all pads (SEQ-all) seems to be the method of choice when conveying tactile messages as spatial patterns. This is an important outcome for increasing the information bandwidth of communication through the tactile channel.

Less Vibrotactile Feedback Is Effective to Improve Human Balance Control during Sensory Cues Alteration

For individuals with altered sensory cues, vibrotactile feedback improves their balance control. However, should vibrotactile feedback be provided every time balance control is compromised, or only one-third of the time their balance is compromised? We hypothesized that vibrotactile feedback would improve balance control more when provided every time their balance is compromised. Healthy young adults were randomly assigned to two groups: group 33% feedback (6 males and 6 females) and group 100% feedback (6 males and 6 females). Vibrotactile feedbacks related to the body's sway angle amplitude and direction were provided, while participants stood upright on a foam surface with their eyes closed. Then, we assessed if balance control improvement lasted when the vibrotactile feedback was removed (i.e., post-vibration condition). Finally, we verified whether or not vibrotactile feedback unrelated to the body's sway angle and direction (sham condition) altered balance control. The results revealed no significant group difference in balance control improvement during vibrotactile feedback. Immediately following vibrotactile feedback, both groups reduced their balance control commands; body sway velocity and the ground reaction forces variability decreased. For both groups, unrelated vibrotactile feedback worsened balance control. These results confirmed that participants processed and implemented vibrotactile feedback to control their body sways. Less vibrotactile feedback was effective in improving balance control.

Sex differences in the association of postural control with indirect measures of body representations

Besides anthropometric variables, high-order body representations have been hypothesised to influence postural control. However, this has not been directly tested before. Moreover, some studies indicate that sex moderates the relationship of anthropometry and postural control. Therefore, as a proof of concept we investigated the association of body representations with postural control as well as the influence of participants’ sex/gender. Body image measures were assessed with a figural drawing task. Body schema was tested by a covert and an overt task. Body sway was measured during normal bipedal quiet standing with eyes closed (with/without neck extended). Statistical analysis consisted of hierarchical multiple linear regressions with the following regression steps: (1) sensory condition, (2) sex/gender, (3) age, (4) anthropometry, (5) body schema, (6) body image, (7) sex/gender-interactions. Across 36 subjects (19 females), body schema was significantly associated with body sway variability and open-loop control, in addition to commonly known influencing factors, such as sensory condition, gender, age and anthropometry. While in females, also body image dissatisfaction substantially was associated with postural control, this was not the case in males. Sex differences and possible causes why high-order body representations may influence concurrent sensorimotor control of body sway are discussed.

Immediate Effects of Vibrotactile Biofeedback Instructions on Human Postural Control

Vibrotactile biofeedback can improve balance and consequently be helpful in fall prevention. However, it remains unclear how different types of stimulus presentations affect not only trunk tilt, but also Center of Pressure (CoP) displacements, and whether an instruction on how to move contributes to a better understanding of vibrotactile feedback.Based on lower back tilt angles (L5), we applied individualized multi-directional vibrotactile feedback to the upper torso by a haptic vest in 30 healthy young adults. Subjects were equally distributed to three instruction groups (attractive - move in the direction of feedback, repulsive - move in the opposite direction of feedback & no instruction - with attractive stimuli). We conducted four conditions with eyes closed (feedback on/off, Narrow Stance with head extended, Semi-Tandem stance), with seven trials of 45s each. For CoP and L5, we computed Root Mean Square (RMS) of position/angle and standard deviation (SD) of velocity, and for L5 additionally, the percentage in time above threshold. The analysis consisted of mixed model ANOVAs and t-tests (α-level: 0.05).In the attractive and repulsive groups feedback significantly decreased the percentage above threshold (p<0.05). Feedback decreased RMS of L5, whereas RMS of CoP and SD of velocity in L5 and COP increased (p<0.05). Finally, an instruction on how to move contributed to a better understanding of the vibrotactile biofeedback.

Characteristics of improvements in balance control using vibro-tactile biofeedback of trunk sway for multiple sclerosis patients

BACKGROUND AND AIMS

Previously, we determined that training with vibrotactile feedback (VTfb) of trunk sway improves MS patients' balance impairment. Here, we posed 5 questions: 1) How many weeks of VTfb training are required to obtain the best short-term carry over effect (CoE) with VTfb? 2) How long does the CoE last once VTfb training terminates? 3) Is the benefit similar for stance and gait? 4) Is position or velocity based VTfb more effective in reducing trunk sway? 5) Do patients' subjective assessments of balance control improve?

METHODS

Balance control of 16 MS patients was measured with gyroscopes at the lower trunk. The gyroscopes drove directionally active VTfb in a head-band. Patients trained twice per week with VTfb for 4 weeks to determine when balance control with and without VTfb stopped improving. Thereafter, weekly assessments without VTfb over 4 weeks and at 6 months determined when CoEs ended.

RESULTS

A 20% improvement in balance to normal levels occurred with VTfb. Short term CoEs improved from 15 to 20% (p ≤ 0.001). Medium term (1-4 weeks) CoEs were constant at 19% (p ≤ 0.001). At 6 months improvement was not significant, 9%. Most improvement was for lateral sway. Equal improvement occurred when angle position or velocity drove VTfb. Subjectively, balance improvements peaked after 3 weeks of training (32%, p ≤ 0.05).

CONCLUSIONS

3-4 weeks VTfb training yields clinically relevant sway reductions and subjective improvements for MS patients during stance and gait. The CoEs lasted at least 1 month. Velocity-based VTfb was equally effective as position-based VTfb.

Integrating Tactile Feedback Technologies Into Home-Based Telerehabilitation: Opportunities and Challenges in Light of COVID-19 Pandemic

The COVID-19 pandemic has highlighted the need for advancing the development and implementation of novel means for home-based telerehabilitation in order to enable remote assessment and training for individuals with disabling conditions in need of therapy. While somatosensory input is essential for motor function, to date, most telerehabilitation therapies and technologies focus on assessing and training motor impairments, while the somatosensorial aspect is largely neglected. The integration of tactile devices into home-based rehabilitation practice has the potential to enhance the recovery of sensorimotor impairments and to promote functional gains through practice in an enriched environment with augmented tactile feedback and haptic interactions. In the current review, we outline the clinical approaches for stimulating somatosensation in home-based telerehabilitation and review the existing technologies for conveying mechanical tactile feedback (i.e., vibration, stretch, pressure, and mid-air stimulations). We focus on tactile feedback technologies that can be integrated into home-based practice due to their relatively low cost, compact size, and lightweight. The advantages and opportunities, as well as the long-term challenges and gaps with regards to implementing these technologies into home-based telerehabilitation, are discussed.

Vibrotactile Feedback for Improving Standing Balance

Maintaining balance standing upright is an active process that complements the stabilizing properties of muscle stiffness with feedback control driven by independent sensory channels: proprioceptive, visual, and vestibular. Considering that the contribution of these channels is additive, we investigated to what extent providing an additional channel, based on vibrotactile stimulation, may improve balance control. This study focused only on healthy young participants for evaluating the effects of different encoding methods and the importance of the informational content. We built a device that provides a vibrotactile feedback using two vibration motors placed on the anterior and posterior part of the body, at the L5 level. The vibration was synchronized with an accelerometric measurement encoding a combination of the position and acceleration of the body center of mass in the anterior-posterior direction. The goal was to investigate the efficacy of the information encoded by this feedback in modifying postural patterns, comparing, in particular, two different encoding methods: vibration always on and vibration with a dead zone, i.e., silent in a region around the natural stance posture. We also studied if after the exposure, the participants modified their normal oscillation patterns, i.e., if there were after effects. Finally, we investigated if these effects depended on the informational content of the feedback, introducing trials with vibration unrelated to the actual postural oscillations (sham feedback). Twenty-four participants were asked to stand still with their eyes closed, alternating trials with and without vibrotactile feedback: nine were tested with vibration always on and sham feedback, fifteen with dead zone feedback. The results show that synchronized vibrotactile feedback reduces significantly the sway amplitude while increasing the frequency in anterior-posterior and medial-lateral directions. The two encoding methods had no different effects of reducing the amount of postural sway during exposure to vibration, however only the dead-zone feedback led to short-term after effects. The presence of sham vibration, instead, increased the sway amplitude, highlighting the importance of the encoded information.

The Validity of an Oculus Rift to Assess Postural Changes During Balance Tasks

OBJECTIVE

To investigate whether shifts in head position, measured via an Oculus Rift head-mounted display (HMD), is a valid measure of whole-body postural stability.

BACKGROUND

The inverted single-link pendulum model of balance suggests shifts in whole-body center of mass can be estimated from individual body segments. However, whether head position describes postural stability such as center-of-pressure (COP) remains unclear.

METHOD

Participants (N = 10) performed six conditions while wearing an HMD and performing a previously validated virtual reality (VR)-based balance assessment. COP was recorded with a Wii Balance Board force plate (WBB), while an HMD recorded linear and angular head displacement. Visual input was presented in the HMD (stable scene, dark scene, or dynamic scene) and somatosensory information (with or without foam) was varied across each condition. The HMD time series data were compared with the criterion-measure WBB.

RESULTS

Significant correlations were found between COP measures (standard deviation, range, sway area, velocity) and head-centered angular and linear displacements (roll, pitch, mediolateral and anteroposterior directions).

CONCLUSIONS

The Oculus Rift HMD shows promise as a measure of postural stability without additional posturography equipment. These findings support the application of VR HMD technology for assessment of postural stability across a variety of challenging conditions.

APPLICATION

The human factors and ergonomic benefit of such an approach is in its portability, low cost, and widespread availability for clinic and home-based investigation of postural disturbances. Fall injury affects millions of people annually, so assessment of fall risk and treatment of the underlying causes has enormous public health benefit.

The Use of Vibrotactile Feedback During Dual-Task Standing Balance Conditions in People With Unilateral Vestibular Hypofunction

HYPOTHESIS

People with unilateral vestibular hypofunction (UVH) would have increased postural sway and slower reaction times while using vibrotactile feedback (VTF) during dual-task conditions compared with age-matched controls.

BACKGROUND

VTF has been shown to improve real-time balance performance in persons with vestibular disorders. Future use of this technology outside of the laboratory environment as a real-time balance aid requires that using VTF during dual-tasking scenarios be studied.

METHOD

Nine people with UVH and nine age-matched controls participated in a study focused on assessing the effects of a secondary cognitive task and sensory integration conditions on the root-mean-square of center of pressure (RMS COP) while using VTF. Reaction times from the secondary cognitive task were used to assess the effects of VTF, and sensory integration conditions on the attention required to perform the task.

RESULTS

The results showed that there was no group difference between individuals with UVH and age-matched controls on balance performance while using VTF during dual-task conditions. Using VTF significantly degraded the reaction time performance in both groups, and the participants with UVH had slower reaction times compared with controls.

CONCLUSION

People with UVH showed the ability to use VTF to control balance during dual-task conditions, but more attentional resources were needed to perform the secondary cognitive tasks while using VTF.

Electrical Vestibular Stimulation in Humans: A Narrative Review

BACKGROUND

In patients with bilateral vestibulopathy, the regular treatment options, such as medication, surgery, and/or vestibular rehabilitation, do not always suffice. Therefore, the focus in this field of vestibular research shifted to electrical vestibular stimulation (EVS) and the development of a system capable of artificially restoring the vestibular function. Key Message: Currently, three approaches are being investigated: vestibular co-stimulation with a cochlear implant (CI), EVS with a vestibular implant (VI), and galvanic vestibular stimulation (GVS). All three applications show promising results but due to conceptual differences and the experimental state, a consensus on which application is the most ideal for which type of patient is still missing.

SUMMARY

Vestibular co-stimulation with a CI is based on "spread of excitation," which is a phenomenon that occurs when the currents from the CI spread to the surrounding structures and stimulate them. It has been shown that CI activation can indeed result in stimulation of the vestibular structures. Therefore, the question was raised whether vestibular co-stimulation can be functionally used in patients with bilateral vestibulopathy. A more direct vestibular stimulation method can be accomplished by implantation and activation of a VI. The concept of the VI is based on the technology and principles of the CI. Different VI prototypes are currently being evaluated regarding feasibility and functionality. So far, all of them were capable of activating different types of vestibular reflexes. A third stimulation method is GVS, which requires the use of surface electrodes instead of an implanted electrode array. However, as the currents are sent through the skull from one mastoid to the other, GVS is rather unspecific. It should be mentioned though, that the reported spread of excitation in both CI and VI use also seems to induce a more unspecific stimulation. Although all three applications of EVS were shown to be effective, it has yet to be defined which option is more desirable based on applicability and efficiency. It is possible and even likely that there is a place for all three approaches, given the diversity of the patient population who serves to gain from such technologies.

Spatial and temporal influences on discrimination of vibrotactile stimuli on the arm

Body-machine interfaces (BMIs) provide a non-invasive way to control devices. Vibrotactile stimulation has been used by BMIs to provide performance feedback to the user, thereby reducing visual demands. To advance the goal of developing a compact, multivariate vibrotactile display for BMIs, we performed two psychophysical experiments to determine the acuity of vibrotactile perception across the arm. The first experiment assessed vibration intensity discrimination of sequentially presented stimuli within four dermatomes of the arm (C5, C7, C8, and T1) and on the ulnar head. The second experiment compared vibration intensity discrimination when pairs of vibrotactile stimuli were presented simultaneously vs. sequentially within and across dermatomes. The first experiment found a small but statistically significant difference between dermatomes C7 and T1, but discrimination thresholds at the other three locations did not differ. Thus, while all tested dermatomes of the arm and hand could serve as viable sites of vibrotactile stimulation for a practical BMI, ideal implementations should account for small differences in perceptual acuity across dermatomes. The second experiment found that sequential delivery of vibrotactile stimuli resulted in better intensity discrimination than simultaneous delivery, independent of whether the pairs were located within the same dermatome or across dermatomes. Taken together, our results suggest that the arm may be a viable site to transfer multivariate information via vibrotactile feedback for body-machine interfaces. However, user training may be needed to overcome the perceptual disadvantage of simultaneous vs. sequentially presented stimuli.

Neuromodulation to improve gait and balance function using a sensory neuroprosthesis in people who report insensate feet - A randomized control cross-over study

Peripheral neuropathy may cause loss of sensory information from plantar cutaneous mechanoreceptors that is important for balance control and falls management. The current study investigated short-term effects of using Walkasins, an external lower-limb sensory neuroprosthesis, on clinical outcomes of balance and gait in persons who reported peripheral neuropathy and balance problems. The device replaces lost plantar sensation with tactile balance information that modulates cutaneous mechanoreceptors above the ankle where sensation is intact. Thirty-one male community-dwelling Veterans, 56–84 years old with insensate feet and balance problems participated. Initial Functional Gait Assessment, gait speed, and 4-Stage Balance Test outcomes were assessed. After initial assessment, subjects were randomly assigned to either wearing Walkasins turned ON, or OFF, and outcomes were re-assessed following a set of standardized balance exercises. Following a one-hour rest and washout period, treatments were crossed-over between groups and a third outcomes assessment was performed. Before cross-over, 10 of 15 subjects in the ON-then-OFF group improved their Functional Gait Assessment score by at least four points, the Minimal Clinically Important Difference, compared to 5 of 16 in the OFF-then-ON group. After cross-over, 7 of 16 subjects in the OFF-then-ON group improved by at least four points versus 2 of 15 in the ON-then-OFF group. ON treatment was associated with a Functional Gait Assessment improvement of 4.4 ± 3.7 points versus 1.5 ± 1.2 for the OFF treatment (p<0.01). Overall, Functional Gait Assessment scores changed from 15.2 ± 4.8 at initial assessment to 21.1 ± 5.2 after final assessment (p<0.001). At the end of the two treatment sessions, 16 of the 31 individuals had improved their Functional Gait Assessment score beyond 23, indicating normal fall-risk status. Future studies should investigate long-term benefits of the device to reduce fall risk and actual falls in patients with peripheral neuropathy and balance problems.

Vibrotactile feedback improves balance and mobility in patients with severe bilateral vestibular loss

The impact of vibrotactile feedback of the gravity vector, provided by a “balance” belt worn around the waist, was evaluated in 39 patients with a severe bilateral vestibular loss, confirmed by extensive laboratory testing and suffering from a low quality of life, mainly due to imbalance. The mobility and balance score (MBS) of all patients prior to the use of the belt was equal or less than 5 out of a scale of 10. Thirty-one out of the 39 patients experienced the effect of the belt on their balance and mobility as positive in a preselection trial of 2 h in the hospital. The 31 positive responders then used the belt for 1 month in daily life. The average MBS increased significantly from 4.2 to 7.9 (paired T test, T = 9.82, p < 0.00001). Twenty-three out of 31 patients reported a benefit ranging from an improvement of 60–200% in their MBS. Eight patients did not experience any benefit. In summary, 23 out of 39 patients with a severe imbalance due to a bilateral vestibular loss experienced a clear benefit of vibrotactile feed = back in daily life. We conclude that vibrotactile feedback via the waist can serve as an effective prothesis for patients with severe bilateral vestibular loss to improve the quality of life.

Information Encoding Methods for a Balance Assist Device Using Vibrotactile Feedback

This study investigates the applicability of information encoding methods for a balance assist device using vibrotactile feedback. In the device, two motors were employed to provide information on the model's sway angle in each of the forward and backward directions. In the experiment involving ten healthy volunteers, two encoding modes with different vibration patterns were compared using an equivalent body model. The influence of proficiency level was also investigated. The results indicated that a simple encoding method outperformed a complex one even after the proficiency level was improved. Further analyses on the input and output of the model indicated the necessity of a time domain signal for encoding feedback information with the complex encoding methodology.

A new smart balance rehabilitation system technology platform: Development and preliminary assessment of the Smarter Balance System for home-based balance rehabilitation for individuals with Parkinson's disease

Physical and balance rehabilitation programs have been shown to improve postural stability and balance performance and to be more effective than dopaminergic medication and surgical treatments for individuals with Parkinson's disease (PD). This paper describes the development and assessment of a new Smarter Balance System (SBS) intended for home-based use by individuals with PD. We report the initial results of a long-term study currently underway that quantifies the clinical impacts of using the SBS during a 6-week, home-based rehabilitation program. Preliminary results indicate that individuals with PD improved their balance and postural stability, and maintained the improvements for 1 month after completing the 6-week, homebased rehabilitation program with the SBS.

Potential Mechanisms of Sensory Augmentation Systems on Human Balance Control

Numerous studies have demonstrated the real-time use of visual, vibrotactile, auditory, and multimodal sensory augmentation technologies for reducing postural sway during static tasks and improving balance during dynamic tasks. The mechanism by which sensory augmentation information is processed and used by the CNS is not well understood. The dominant hypothesis, which has not been supported by rigorous experimental evidence, posits that observed reductions in postural sway are due to sensory reweighting: feedback of body motion provides the CNS with a correlate to the inputs from its intact sensory channels (e.g., vision, proprioception), so individuals receiving sensory augmentation learn to increasingly depend on these intact systems. Other possible mechanisms for observed postural sway reductions include: cognition (processing of sensory augmentation information is solely cognitive with no selective adjustment of sensory weights by the CNS), “sixth” sense (CNS interprets sensory augmentation information as a new and distinct sensory channel), context-specific adaptation (new sensorimotor program is developed through repeated interaction with the device and accessible only when the device is used), and combined volitional and non-volitional responses. This critical review summarizes the reported sensory augmentation findings spanning postural control models, clinical rehabilitation, laboratory-based real-time usage, and neuroimaging to critically evaluate each of the aforementioned mechanistic theories. Cognition and sensory re-weighting are identified as two mechanisms supported by the existing literature.

An experimental setup to test dual-joystick directional responses to vibrotactile stimuli

In this paper we investigate the influence of the location of vibrotactile stimulation in triggering the response made using two handheld joysticks. In particular, we compare performance with stimuli delivered either using tactors placed on the palm or on the back of the hand and with attractive (move toward the vibration) or repulsive prompts (move away from the vibration). The experimental set-up comprised two joysticks and two gloves, each equipped with four pager motors along the cardinal directions. In different blocks, fifty-three volunteers were asked to move the joysticks as fast as possible either towards or away with respect to the direction specified by a set of vibrating motors. Results indicate that participants performed better with attractive prompts (i.e. responses were faster and with fewer errors in conditions where participants were asked to move the joysticks in the direction of the felt vibration) and that the stimulation delivered on the back of the hand from the gloves gives better results than the stimulation on the palm delivered by the joysticks. Finally, we analyse the laterality, the relation between correct responses and reaction times, the direction patterns for wrong responses and we perform an analysis on the Stimulus-Response Compatibility and on the training effect.

The Effects of Coding Schemes on Vibrotactile Biofeedback for Dynamic Balance Training in Parkinson's Disease and Healthy Elderly Individuals

Coding scheme for earlier versions of vibrotactile biofeedback systems for balance-related applications was primarily binary in nature, either on or off at a given threshold (range of postural tilt), making it unable to convey information about error magnitude. The purpose of this paper was to explore the effects of two coding schemes (binary versus continuous) for vibrotactile biofeedback during dynamic weight-shifting exercises that are common physical therapists' recommended balance exercises used in clinical settings. Nine individuals with idiopathic Parkinson's disease and nine healthy elderly individuals participated in this paper. All participants performed dynamic weight-shifting exercises assisted with either the binary or continuous vibrotactile biofeedback delivered using with vibrating actuators (tactors) in either the anterior-posterior or medial-lateral direction. Participants' limits of stability at pre and post exercises were compared to evaluate the effects of the exercises on their range of motion. The continuous coding scheme produced significantly better performance than the binary scheme when both groups were performing dynamic weight-shifting balance exercises with assistive vibrotactile biofeedback. The results have implications in terms of maximizing the effects of error-driven motor learning and increasing performance on balance rehabilitation training combined with vibrotactile biofeedback.

Continuous Movement Tracking Performance for Predictable and Unpredictable Tasks with Vibrotactile Feedback

The purpose of this paper was to determine human movement tracking performance in response to vibrotactile feedback tracking for predictable and unpredictable continuous movement tasks. Thirteen subjects performed elbow flexion/extension and knee flexion/extension continuous movement tracking tasks while receiving tactile stimulation proportional to limb joint position error. Subjects followed 0.2-2.0 Hz desired movements for predictable tasks (single sinusoid) and unpredictable tasks (combination of three sinusoids). Tactile stimulation reaction times at the forearm to induce elbow flexion/extension and at the shank to induce knee flexion/extension were also recorded. Results of frequency tracking showed that 100 percent of participants correctly tracked unpredictable tasks at all frequencies, but only 60-80 percent of participants correctly tracked predictable tasks at frequencies less than 1 Hz and only 20-60 percent of participants correctly tracked predictable tasks at frequencies greater than 1 Hz. Subjects had less phase lag for predictable tasks than for unpredictable tasks. Reaction times at the forearm were 379 ms and at the shank 437 ms. These findings suggest that continuous vibrotactile feedback based on position errors may not be the most effective means of training higher frequency human movements and serve to inform future vibrotactile feedback design related to training human limb movements for predictable and unpredictable tasks.

Changes in gait and plantar foot loading upon using vibrotactile wearable biofeedback system in patients with stroke

BACKGROUND

Patients with stroke walk with excessive foot inversion at the affected side, which may disturb their balance and gait.

OBJECTIVES

This study aimed to investigate the effects of instant biofeedback of plantar force at the medial and lateral forefoot regions on gait and plantar foot loading in patients with stroke.

METHODS

A total of eight patients with hemiplegic stroke, who had flexible rearfoot varus deformity at the affected side, participated in this study. A vibrotactile biofeedback system was developed and evaluated. It analyzed forces at the medial and lateral forefeet, and instantly provided vibration clues when the plantar force at medial forefoot was less than a threshold. Each subject's three-dimensional gait parameters and plantar-pressure distribution during walking were measured under two experimental conditions (sequence randomized): with and without the device turned on (Trial-registration number: ChiCTR-IPB-15006530 and HKCTR-1853).

RESULTS

Providing biofeedback significantly reduced the foot inversion and increased the mid-stance foot-floor contact area and medial midfoot plantar pressure of the affected limb, bringing the values of these parameters closer to those of the unaffected side. The biofeedback also significantly reduced the unaffected side's excessive knee flexion and hip abduction.

CONCLUSIONS

There were signs of improved foot loading characteristics and gait upon provision of instant vibrotactile biofeedback of plantar force. The positive results of this study further support the development of wearable biofeedback devices for improving gait of patients with stroke.

Vibrotactile feedback as a tool to improve motor learning and sports performance: a systematic review

BACKGROUND

Evidence concerning the use of vibrotactile feedback for acquiring and learning new motor skills is limited. Although various concepts and applications for tactile feedback have been proposed, little is known about the suitability of this feedback mechanism in sports training.

AIM

The goal of this systematic review was to gather knowledge on the efficacy of the use of vibrotactile feedback in improving sports performance skills.

DESIGN

Systematic review.

METHODS

Comprehensively searched databases were: PubMed, Cochrane and Web of Science. Studies investigating the effects of using vibrotactile feedback in sports training in healthy subjects were included in this review.

RESULTS

No consensus was found regarding the positive effectiveness on performance using vibrotactile feedback in a sports context. No evidence was found that the addition of tactile feedback is effective for acquiring new motor skills. None of the studies show a significant learning effect.

The Neurovestibular Challenges of Astronauts and Balance Patients: Some Past Countermeasures and Two Alternative Approaches to Elicitation, Assessment and Mitigation

Astronauts and vestibular patients face analogous challenges to orientation function due to adaptive exogenous (weightlessness-induced) or endogenous (pathology-induced) alterations in the processing of acceleration stimuli. Given some neurovestibular similarities between these challenges, both affected groups may benefit from shared research approaches and adaptation measurement/improvement strategies. This article reviews various past strategies and introduces two plausible ground-based approaches, the first of which is a method for eliciting and assessing vestibular adaptation-induced imbalance. Second, we review a strategy for mitigating imbalance associated with vestibular pathology and fostering readaptation. In discussing the first strategy (for imbalance assessment), we review a pilot study wherein imbalance was elicited (among healthy subjects) via an adaptive challenge that caused a temporary/reversible disruption. The surrogate vestibular deficit was caused by a brief period of movement-induced adaptation to an altered (rotating) gravitoinertial frame of reference. This elicited adaptation and caused imbalance when head movements were made after reentry into the normal (non-rotating) frame of reference. We also review a strategy for fall mitigation, viz., a prototype tactile sway feedback device for aiding balance/recovery after disruptions caused by vestibular pathology. We introduce the device and review a preliminary exploration of its effectiveness in aiding clinical balance rehabilitation (discussing the implications for healthy astronauts). Both strategies reviewed in this article represent cross-disciplinary research spin-offs: the ground-based vestibular challenge and tactile cueing display were derived from aeromedical research to benefit military aviators suffering from flight simulator-relevant aftereffects or inflight spatial disorientation, respectively. These strategies merit further evaluation using clinical and astronaut populations.

Robot-Assisted Proprioceptive Training with Added Vibro-Tactile Feedback Enhances Somatosensory and Motor Performance

This study examined the trainability of the proprioceptive sense and explored the relationship between proprioception and motor learning. With vision blocked, human learners had to perform goal-directed wrist movements relying solely on proprioceptive/haptic cues to reach several haptically specified targets. One group received additional somatosensory movement error feedback in form of vibro-tactile cues applied to the skin of the forearm. We used a haptic robotic device for the wrist and implemented a 3-day training regimen that required learners to make spatially precise goal-directed wrist reaching movements without vision. We assessed whether training improved the acuity of the wrist joint position sense. In addition, we checked if sensory learning generalized to the motor domain and improved spatial precision of wrist tracking movements that were not trained. The main findings of the study are: First, proprioceptive acuity of the wrist joint position sense improved after training for the group that received the combined proprioceptive/haptic and vibro-tactile feedback (VTF). Second, training had no impact on the spatial accuracy of the untrained tracking task. However, learners who had received VTF significantly reduced their reliance on haptic guidance feedback when performing the untrained motor task. That is, concurrent VTF was highly salient movement feedback and obviated the need for haptic feedback. Third, VTF can be also provided by the limb not involved in the task. Learners who received VTF to the contralateral limb equally benefitted. In conclusion, somatosensory training can significantly enhance proprioceptive acuity within days when learning is coupled with vibro-tactile sensory cues that provide feedback about movement errors. The observable sensory improvements in proprioception facilitates motor learning and such learning may generalize to the sensorimotor control of the untrained motor tasks. The implications of these findings for neurorehabilitation are discussed.

Vestibular assistance systems: promises and challenges

The handicap resulting from a bilateral vestibular deficit is often underestimated. In most cases the deficit settles gradually. Patients do not understand what is happening to them and have many difficulties to describe their symptoms. They have to consult several doctors with different medical specialties before diagnosis. Once the diagnosis is made there is no biological way to “repair” the deficient vestibular apparatus and vestibular exercises are mildly effective. Attempts have been made to help patients using substitution devices replacing the defective vestibular information by tactile or acoustic cues. Currently, efforts are being made towards the development of a vestibular implant, conceptually similar to the cochlear implant for the rehabilitation of deaf patients. In recent years, several experiments on animal models have demonstrated the feasibility of this project. This paper reports the steps accomplished in human experiments and the main results obtained in our laboratory.

Balance Improvement Effects of Biofeedback Systems with State-of-the-Art Wearable Sensors: A Systematic Review

Falls and fall-induced injuries are major global public health problems. Balance and gait disorders have been the second leading cause of falls. Inertial motion sensors and force sensors have been widely used to monitor both static and dynamic balance performance. Based on the detected performance, instant visual, auditory, electrotactile and vibrotactile biofeedback could be provided to augment the somatosensory input and enhance balance control. This review aims to synthesize the research examining the effect of biofeedback systems, with wearable inertial motion sensors and force sensors, on balance performance. Randomized and non-randomized clinical trials were included in this review. All studies were evaluated based on the methodological quality. Sample characteristics, device design and study characteristics were summarized. Most previous studies suggested that biofeedback devices were effective in enhancing static and dynamic balance in healthy young and older adults, and patients with balance and gait disorders. Attention should be paid to the choice of appropriate types of sensors and biofeedback for different intended purposes. Maximizing the computing capacity of the micro-processer, while minimizing the size of the electronic components, appears to be the future direction of optimizing the devices. Wearable balance-improving devices have their potential of serving as balance aids in daily life, which can be used indoors and outdoors.

The effects of attractive vs. repulsive instructional cuing on balance performance

Background

Torso-based vibrotactile feedback has been shown to improve postural performance during quiet and perturbed stance in healthy young and older adults and individuals with balance impairments. These systems typically include tactors distributed around the torso that are activated when body motion exceeds a predefined threshold. Users are instructed to “move away from the vibration”. However, recent studies have shown that in the absence of instructions, vibrotactile stimulation induces small (~1°) non-volitional responses in the direction of its application location. It was hypothesized that an attractive cuing strategy (i.e., “move toward the vibration”) could improve postural performance by leveraging this natural tendency.

Findings

Eight healthy older adults participated in two non-consecutive days of computerized dynamic posturography testing while wearing a vibrotactile feedback system comprised of an inertial measurement unit and four tactors that were activated in pairs when body motion exceeded 1° anteriorly or posteriorly. A crossover design was used. On each day participants performed 24 repetitions of Sensory Organization Test condition 5 (SOT5), three repetitions each of SOT 1–6, three repetitions of the Motor Control Test, and five repetitions of the Adaptation Test. Performance metrics included A/P RMS, Time-in-zone and 95 % CI Ellipse. Performance improved with both cuing strategies but participants performed better when using repulsive cues. However, the rate of improvement was greater for attractive versus repulsive cuing.

Conclusions

The results suggest that when the cutaneous signal is interpreted as an alarm, cognition overrides sensory information. Furthermore, although repulsive cues resulted in better performance, attractive cues may be as good, if not better, than repulsive cues following extended training.

Robot-assisted training to improve proprioception does benefit from added vibro-tactile feedback

Proprioception is central for motor control and its role must also be taken into account when designing motor rehabilitation training protocols. This is particularly important when dealing with motor deficits due to proprioceptive impairment such as peripheral sensory neuropathy. In these cases substituting or augmenting diminished proprioceptive sensory information might be beneficial for improving motor function. However it still remains to be understood how proprioceptive senses can be improved by training, how this would translate into motor improvement and whether additional sensory modalities during motor training contribute to the sensorimotor training process. This preliminary study investigated how proprioceptive/haptic training can be augmented by providing additional sensory information in the form of vibro-tactile feedback. We tested the acuity of the wrist proprioceptive position sense before and after robotic training in two groups of healthy subjects, one trained only with haptic feedback and one with haptic and vibro-tactile feedback. We found that only the group receiving the multimodal feedback significantly improved proprioceptive acuity. This study demonstrates that non-proprioceptive position feedback derived from another somatosensory modality is easily interpretable for humans and can contribute to an increased precision of joint position. The clinical implications of this finding will be outlined.

Haptic wearables as sensory replacement, sensory augmentation and trainer - a review

Sensory impairments decrease quality of life and can slow or hinder rehabilitation. Small, computationally powerful electronics have enabled the recent development of wearable systems aimed to improve function for individuals with sensory impairments. The purpose of this review is to synthesize current haptic wearable research for clinical applications involving sensory impairments. We define haptic wearables as untethered, ungrounded body worn devices that interact with skin directly or through clothing and can be used in natural environments outside a laboratory. Results of this review are categorized by degree of sensory impairment. Total impairment, such as in an amputee, blind, or deaf individual, involves haptics acting as sensory replacement; partial impairment, as is common in rehabilitation, involves haptics as sensory augmentation; and no impairment involves haptics as trainer. This review found that wearable haptic devices improved function for a variety of clinical applications including: rehabilitation, prosthetics, vestibular loss, osteoarthritis, vision loss and hearing loss. Future haptic wearables development should focus on clinical needs, intuitive and multimodal haptic displays, low energy demands, and biomechanical compliance for long-term usage.

The effect of age on postural and cognitive task performance while using vibrotactile feedback

Vibrotactile feedback (VTF) has been shown to improve balance performance in healthy people and people with vestibular disorders in a single-task experimental condition. It is unclear how age-related changes in balance affect the ability to use VTF and if there are different attentional requirements for old and young adults when using VTF. Twenty younger and 20 older subjects participated in this two-visit study to examine the effect of age, VTF, sensory condition, cognitive task, duration of time, and visit on postural and cognitive performance. Postural performance outcome measures included root mean square of center of pressure (COP) and trunk tilt, and cognitive performance was assessed using the reaction time (RT) from an auditory choice RT task. The results showed that compared with younger adults, older adults had an increase in COP in fixed platform conditions when using VTF, although they were able to reduce COP during sway-referenced platform conditions. Older adults also did not benefit fully from using VTF in their first session. The RTs for the secondary cognitive tasks increased significantly while using the VTF in both younger and older adults. Older adults had a larger increase compared with younger adults, suggesting that greater attentional demands were required in older adults when using VTF information. Future training protocols for VTF should take into consideration the effect of aging.

Effects of co-vibrotactile stimulations around the torso on non-volitional postural responses

The purpose of this study was to characterize the effects of co-vibrotactile stimulations around the torso on non-volitional postural responses in the absence of instructions. Four healthy young adults maintained an upright, erect posture with their eyes closed in two different stance conditions: normal and Romberg stance. Six vibrotactile transducers (tactors) were placed on the skin over the right and left external oblique, internal oblique, and erector spinae muscles. Either a combination of vibration at two locations or all locations around the torso was applied for 5 s during each experimental trial. Regardless of stance condition, vibration applied concurrently over the right and left internal oblique muscle locations and the right and left erector spinae muscle locations induced a postural shift in the anterior and posterior directions, respectively. For these two stimulation conditions, the root-mean-square of sway in the anterior-posterior direction was significantly greater during vibration than before or after stimulation. However, simultaneous activation of all tactors, a combination of right internal oblique and right erector spinae locations, and a combination of left internal oblique and left erector spinae locations did not produce significant directional postural shifts or increases in sway, regardless of the stance condition. These findings suggest that stimuli combinations contribute to a vector summation of individual postural responses described in our previous work and that they could be leveraged in balance-related applications of sensory augmentation vibrotactile displays.

The effects of actuator selection on non-volitional postural responses to torso-based vibrotactile stimulation

Background

Torso-based vibrotactile feedback may significantly reduce postural sway in balance-compromised adults during quiet standing or in response to perturbations. However, natural non-volitional postural responses to vibrotactile stimulation applied to the torso remain unknown.

Methods

The primary goal of this study was to determine, for two types of actuators (tactors) and in the absence of instruction, whether vibrotactile stimulation induces a directional postural shift as a function of stimulation location. Eleven healthy young adults (20 – 29 years old) were asked to maintain an upright erect posture with feet hip-width apart and eyes closed. Two types of tactors, Tactaid and C2, which differ in design and stimulation strength, were placed on the skin over the right and left external oblique, internal oblique, and erector spinae muscles in a horizontal plane corresponding approximately to the L4/L5 level. Each tactor of the same type was activated twice randomly for each individual location and twice simultaneously for all locations at a frequency of 250 Hz for a period of 5 s.

Results

Vibration applied over the internal oblique and erector spinae muscle locations induced a postural shift in the direction of the stimulation regardless of the tactor type. For the aforementioned four locations, the root-mean-square (RMS) and power spectral density (PSD) of the body sway in both the A/P and M/L directions were also significantly greater during the vibration than before or after, and were greater for the C2 tactors than for the Tactaid tactors. However, simultaneous activation of all tactors or those over the external oblique muscle locations did not produce significant postural responses regardless of the tactor type.

Conclusion

The results suggest that the use of a torso-based vibrotactile sensory augmentation display should carefully consider the tactor type as well as the instruction of corrective movements. Attractive instructional cues (“move in the direction of the vibration”) are compatible with the observed non-volitional response to stimulation and may facilitate postural adjustments during vibrotactile biofeedback balance applications.

A mathematical model for incorporating biofeedback into human postural control

BACKGROUND

Biofeedback of body motion can serve as a balance aid and rehabilitation tool. To date, mathematical models considering the integration of biofeedback into postural control have represented this integration as a sensory addition and limited their application to a single degree-of-freedom representation of the body. This study has two objectives: 1) to develop a scalable method for incorporating biofeedback into postural control that is independent of the model's degrees of freedom, how it handles sensory integration, and the modeling of its postural controller; and 2) to validate this new model using multidirectional perturbation experimental results.

METHODS

Biofeedback was modeled as an additional torque to the postural controller torque. For validation, this biofeedback modeling approach was applied to a vibrotactile biofeedback device and incorporated into a two-link multibody model with full-state-feedback control that represents the dynamics of bipedal stance. Average response trajectories of body sway and center of pressure (COP) to multidirectional surface perturbations of subjects with vestibular deficits were used for model parameterization and validation in multiple perturbation directions and for multiple display resolutions. The quality of fit was quantified using average error and cross-correlation values.

RESULTS

The mean of the average errors across all tactor configurations and perturbations was 0.24° for body sway and 0.39 cm for COP. The mean of the cross-correlation value was 0.97 for both body sway and COP.

CONCLUSIONS

The biofeedback model developed in this study is capable of capturing experimental response trajectory shapes with low average errors and high cross-correlation values in both the anterior-posterior and medial-lateral directions for all perturbation directions and spatial resolution display configurations considered. The results validate that biofeedback can be modeled as an additional torque to the postural controller without a need for sensory reweighting. This novel approach is scalable and applicable to a wide range of movement conditions within the fields of balance and balance rehabilitation. The model confirms experimental results that increased display resolution does not necessarily lead to reduced body sway. To our knowledge, this is the first theoretical confirmation that a spatial display resolution of 180° can be as effective as a spatial resolution of 22.5°.

Directional postural responses induced by vibrotactile stimulations applied to the torso

It has been shown that torso-based vibrotactile feedback significantly reduces postural sway in balance-compromised adults during quiet standing and in response to perturbations. This study aimed to determine whether vibrotactile stimulations applied to different torso locations induced directional postural responses and whether torso cutaneous information contributes to body representation. Eleven healthy young adults equipped with an inertial measurement unit (IMU) placed on the torso were asked to maintain an upright posture with closed eyes. Six vibrators (tactors) were placed on the torso in contact with the skin over the left and right external oblique, internal oblique, and erector spinae muscles at the L4/L5 level. Each tactor was randomly activated four times per location at a frequency of 250 Hz for a period of 5 s. The IMU results indicated that vibration applied individually over the internal oblique and erector spinae muscles induced a postural shift of about one degree oriented in the direction of the stimulation, while simultaneous activation of all tactors and activation of tactors over external oblique muscles produced insignificant postural effects. The root mean square of the sway signal was significantly higher during vibration than before or after. However, the center of pressure displacement, measured by a force plate, was uninfluenced by any vibration. These results suggest a multi-joint postural response including a torso inclination associated with vibration-induced changes in cutaneous information. The directional aspect of vibration-induced postural shifts suggests that cutaneous information from the stimulated areas contributes to proprioception and upper body spatial representation.

Biofeedback improves postural control recovery from multi-axis discrete perturbations

Background

Multi-axis vibrotactile feedback has been shown to significantly reduce the root-mean-square (RMS) sway, elliptical fits to sway trajectory area, and the time spent outside of the no feedback zone in individuals with vestibular deficits during continuous multidirectional support surface perturbations. The purpose of this study was to examine the effect of multidirectional vibrotactile biofeedback on postural stability during discrete multidirectional support surface perturbations.

Methods

The vibrotactile biofeedback device mapped tilt estimates onto the torso using a 3-row by 16-column tactor array. The number of columns displayed was varied to determine the effect of spatial resolution upon subject response. Torso kinematics and center of pressure data were measured in six subjects with vestibular deficits. Transient and steady state postural responses with and without feedback were characterized in response to eight perturbation directions. Four feedback conditions in addition to the tactors off (no feedback) configuration were evaluated. Postural response data captured by both a force plate and an inertial measurement unit worn on the torso were partitioned into three distinct phases: ballistic, recovery, and steady state.

Results

The results suggest that feedback has minimal effects during the ballistic phase (body’s outbound trajectory in response to the perturbation), and the greatest effects during the recovery (return toward baseline) and steady state (post-recovery) phases. Specifically, feedback significantly decreases the time required for the body tilt to return to baseline values and significantly increases the velocity of the body’s return to baseline values. Furthermore, feedback significantly decreases root mean square roll and pitch sway and significantly increases the amount of time spent in the no feedback zone. All four feedback conditions produced comparable performance improvements. Incidences of delayed and uncontrolled responses were significantly reduced with feedback while erroneous (sham) feedback resulted in poorer performance when compared with the no feedback condition.

Conclusions

The results show that among the displays evaluated in this study, no one tactor column configuration was optimal for standing tasks involving discrete surface perturbations. Feedback produced larger effects on body tilt versus center of pressure parameters. Furthermore, the subjects’ performance worsened when erroneous feedback was provided, suggesting that vibrotactile stimulation applied to the torso is actively processed and acted upon rather than being responsible for simply triggering a stiffening response.

Effects of attractive versus repulsive vibrotactile instructional cues during motion replication tasks

The Mobile Instrument for Motion Instruction and Correction (MIMIC) enables an expert (i.e., physical therapist) to map his/her movements to a trainee (i.e., patient) in a hands-free fashion. MIMIC comprises an Expert Module (EM) and a Trainee Module (TM); both modules include six-degree-of-freedom inertial measurement units, microcontrollers, and batteries. The TM also includes actuators that provide the trainee with vibrotactile instructional cues. The estimated expert body motion information is transmitted wirelessly to the trainee; based on the computed difference between the motions of the expert and trainee, directional instructions are displayed to the trainee's skin via vibrotactile stimulation. This study examined anterior-posterior trunk movements using a simplified version of the MIMIC system in which only two actuators were used to provide feedback and pre-recorded target trajectories were used to represent ideal expert movements. The study was designed to investigate the effects of attractive versus repulsive vibrotactile instructional cues when the motion speed and task complexity were varied. Preliminary results (n = 12) suggest that repulsive vibrotactile instructional cues lead to the greatest correlation between expert and subject motion, the least time delay, and the least tilt error.

A balance control model predicts how vestibular loss subjects benefit from a vibrotactile balance prosthesis

A balance control model was applied to interpret how subjects with a severe vestibular loss (VL) used vibrotactile information from a balance prosthesis to enhance balance control. Experimental data were from 5 VL subjects standing with eyes closed and responding to continuous pseudorandom surface tilts of the stance platform. Results showed that vibrotactile feedback information reduced sway at frequencies below ~0.6 Hz, but vibrotactile feedback was less effective in reducing sway as stimulus amplitude increased. This experimental pattern was accurately predicted by the model, which was based on time-delayed sensory feedback control. The model predicted that changes to the vibrotactor activation scheme could improve performance of the prosthesis and demonstrated that further improvements might be possible if motor learning, acquired by practice and training, could increase VL subjects' reliance on the prosthesis.

Can an electro-tactile vestibular substitution system improve balance in patients with unilateral vestibular loss under altered somatosensory conditions from the foot and ankle?

This pilot study aimed at assessing the feasibility and the effectiveness of an electro Electro-tactile Vestibular Substitution System (EVSS) in patients with unilateral vestibular loss under normal and altered somatosensory conditions from the foot and ankle. Four unilateral vestibular-defective patients voluntarily participated in the experiment. They were asked to stand upright as still as possible with their eyes closed in two Normal and Altered foot and ankle sensory conditions. In the Normal condition, the postural task was executed on a firm support surface constituted by the force platform. In the Altered condition, a 2-cm thick foam support surface was placed under the participants' feet. These two foot and ankle sensory conditions were executed under two No EVSS and EVSS experimental conditions. The No EVSS condition served as a control condition. In the EVSS condition, participants executed the postural task using a biofeedback system whose underlying principle consisted of supplying them with additional information about their head orientation/motion with respect to gravitational vertical through electro-tactile stimulation of their tongue. Centre of foot pressure displacements (CoP) were recorded using the force platform. Results showed that, relative to the No EVSS condition, the EVSS condition decreased CoP displacements in both the Normal and the Altered foot and ankle sensory conditions. Interestingly, the stabilizing effect was more pronounced in the Altered than in the Normal foot and ankle sensory condition. These preliminary results suggest that patients with unilateral vestibular loss were able to take advantage to a head position-based electro-tactile tongue biofeedback to mitigate the postural perturbation induced by alteration of somatosensory input from the foot and the ankle.

Designing vibrotactile balance feedback for desired body sway reductions

Vibrotactile feedback about body position and velocity has been shown to be effective at reducing low frequency body sway (below about 0.5 Hz) in response to balance perturbations while standing. However, current devices cause an undesirable increase in high frequency body sway. In addition, unlike other sensory prostheses such as hearing aids, which are fine-tuned to the user, current vibrotactile balance prostheses largely employ a "one size fits all" approach, in that they use the same settings (i.e. parameter values) for all subjects. Rather than using a fixed design consisting of position and velocity feedback for all subjects, we propose a "custom design" approach that employs system identification methods to identify the feedback required to achieve a desired body sway frequency response for the subject. Our derivations and simulations show that in order to accomplish this objective, feedback consisting of a subject-specific filtered combination of body position, velocity and acceleration is required. Simulation results are provided to illustrate the results.

The tongue display unit (TDU) for electrotactile spatiotemporal pattern presentation

The Tongue Display Unit (TDU) is a 144-channel programmable pulse generator that delivers dc-balanced voltage pulses suitable for electrotactile (electrocutaneous) stimulation of the anterior-dorsal tongue, through a matrix of surface electrodes. This article reviews the theory of operation and a design overview of the TDU, as well as selected applications. These include sensory substitution, tactile information display and neurorehabilitation via induced neuroplasticity.

Clinical observational gait analysis to evaluate improvement of balance during gait with vibrotactile biofeedback

BACKGROUND AND PURPOSE

This study explores the effect of vibrotactile biofeedback on gait in 20 patients with bilateral vestibular areflexia using observational gait analysis to score individual balance.

METHODS

A tilt sensor mounted on the head or trunk is used to detect head or body tilt and activates, via a microprocessor, 12 equally distributed vibrators placed around the waist. Two positions of the tilt sensor were evaluated besides no biofeedback in three different gait velocity tasks (slow/fast tandem gait, normal gait on foam) resulting in nine different randomized conditions. Biofeedback activated versus inactivated was compared. Twenty patients (10 males, 10 females, age 39-77 years) with a bilateral vestibular areflexia or severe bilateral vestibular hyporeflexia, severe balance problems and frequent falls participated in this study.

RESULTS

Significant improvements in balance during gait were shown in our patients using biofeedback and sensor on the trunk. Only two patients showed a significant individual gait improvement with the biofeedback system, but in the majority of our patients, it increased confidence and a feeling of balance.

CONCLUSION

This study indicates the feasibility of vibrotactile biofeedback for vestibular rehabilitation and to improve balance during gait.

The design and development of a production prototype balance belt

This paper discusses the development of a balance device from lab to clinic/home use. An emerging practice among physical therapists in balance training and falls prevention addresses a major health problem in the United States: imbalance and its consequences. The annual cost for treating balance disorders exceeds $1 billion, not including the cost to treat falls. We aim to develop a non-invasive device worn around the waist. It detects when a person is tipping too far in any direction and vibrates on that side, signaling the wearer to stay within their limits of stability. Because this new technology gets a patient to a higher level of function in a shorter number of trials, it offers an opportunity to advance rehabilitation by enabling more effective outcomes for the same number of treatment sessions.