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Erbaş İ, Güçlü B. Real-time vibrotactile pattern generation and identification using discrete event-driven feedback. Somatosens Mot Res 2024; 41:77-89. [PMID: 36751096 DOI: 10.1080/08990220.2023.2175811] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/24/2022] [Accepted: 01/30/2023] [Indexed: 02/09/2023]
Abstract
This study assesses human identification of vibrotactile patterns by using real-time discrete event-driven feedback. Previously acquired force and bend sensor data from a robotic hand were used to predict movement-type (stationary, flexion, contact, extension, release) and object-type (no object, hard object, soft object) states by using decision tree (DT) algorithms implemented in a field-programmable gate array (FPGA). Six able-bodied humans performed a 2- and 3-step sequential pattern recognition task in which state transitions were signaled as vibrotactile feedback. The stimuli were generated according to predicted classes represented by two frequencies (F1: 80 Hz, F2: 180 Hz) and two magnitudes (M1: low, M2: high) calibrated psychophysically for each participant; and they were applied by two actuators (Haptuators) placed on upper arms. A soft/hard object was mapped to F1/F2; and manipulating it with low/high force was assigned to M1/M2 in the left actuator. On the other hand, flexion/extension movement was mapped to F1/F2 in the right actuator, with movement in air as M1 and during object manipulation as M2. DT algorithm performed better for the object-type (97%) than the movement-type (88%) classification in real time. Participants could recognize feedback associated with 14 discrete-event sequences with low-to-medium accuracy. The performance was higher (76 ± 9% recall, 76 ± 17% precision, 78 ± 4% accuracy) for recognizing any one event in the sequences. The results show that FPGA implementation of classification for discrete event-driven vibrotactile feedback can be feasible in haptic devices with additional cues in the physical context.
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Affiliation(s)
- İsmail Erbaş
- Biomedical Engineering Department, Rensselaer Polytechnic Institute, Troy, NY, USA
| | - Burak Güçlü
- Institute of Biomedical Engineering, Boğaziçi University, İstanbul, Turkey
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2
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Papaleo ED, D'Alonzo M, Fiori F, Piombino V, Falato E, Pilato F, De Liso A, Di Lazzaro V, Di Pino G. Integration of proprioception in upper limb prostheses through non-invasive strategies: a review. J Neuroeng Rehabil 2023; 20:118. [PMID: 37689701 PMCID: PMC10493033 DOI: 10.1186/s12984-023-01242-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/11/2023] [Accepted: 08/24/2023] [Indexed: 09/11/2023] Open
Abstract
Proprioception plays a key role in moving our body dexterously and effortlessly. Nevertheless, the majority of investigations evaluating the benefits of providing supplemental feedback to prosthetics users focus on delivering touch restitution. These studies evaluate the influence of touch sensation in an attempt to improve the controllability of current robotic devices. Contrarily, investigations evaluating the capabilities of proprioceptive supplemental feedback have yet to be comprehensively analyzed to the same extent, marking a major gap in knowledge within the current research climate. The non-invasive strategies employed so far to restitute proprioception are reviewed in this work. In the absence of a clearly superior strategy, approaches employing vibrotactile, electrotactile and skin-stretch stimulation achieved better and more consistent results, considering both kinesthetic and grip force information, compared with other strategies or any incidental feedback. Although emulating the richness of the physiological sensory return through artificial feedback is the primary hurdle, measuring its effects to eventually support the integration of cumbersome and energy intensive hardware into commercial prosthetic devices could represent an even greater challenge. Thus, we analyze the strengths and limitations of previous studies and discuss the possible benefits of coupling objective measures, like neurophysiological parameters, as well as measures of prosthesis embodiment and cognitive load with behavioral measures of performance. Such insights aim to provide additional and collateral outcomes to be considered in the experimental design of future investigations of proprioception restitution that could, in the end, allow researchers to gain a more detailed understanding of possibly similar behavioral results and, thus, support one strategy over another.
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Affiliation(s)
- Ermanno Donato Papaleo
- Research Unit of Neurophysiology and Neuroengineering of Human-Technology Interaction (NeXTlab), Università Campus Bio-Medico Di Roma, Via Álvaro Del Portillo 21, 00128, Rome, Italy
| | - Marco D'Alonzo
- Research Unit of Neurophysiology and Neuroengineering of Human-Technology Interaction (NeXTlab), Università Campus Bio-Medico Di Roma, Via Álvaro Del Portillo 21, 00128, Rome, Italy
| | - Francesca Fiori
- Research Unit of Neurophysiology and Neuroengineering of Human-Technology Interaction (NeXTlab), Università Campus Bio-Medico Di Roma, Via Álvaro Del Portillo 21, 00128, Rome, Italy
| | - Valeria Piombino
- Research Unit of Neurophysiology and Neuroengineering of Human-Technology Interaction (NeXTlab), Università Campus Bio-Medico Di Roma, Via Álvaro Del Portillo 21, 00128, Rome, Italy
| | - Emma Falato
- Research Unit of Neurology, Department of Medicine and Surgery, Università Campus Bio-Medico Di Roma, Via Alvaro del Portillo, 21, 00128, Rome, Italy
- Fondazione Policlinico Universitario Campus Bio-Medico, Via Alvaro del Portillo 200, 00128, Rome, Italy
| | - Fabio Pilato
- Research Unit of Neurology, Department of Medicine and Surgery, Università Campus Bio-Medico Di Roma, Via Alvaro del Portillo, 21, 00128, Rome, Italy
- Fondazione Policlinico Universitario Campus Bio-Medico, Via Alvaro del Portillo 200, 00128, Rome, Italy
| | - Alfredo De Liso
- Research Unit of Neurology, Department of Medicine and Surgery, Università Campus Bio-Medico Di Roma, Via Alvaro del Portillo, 21, 00128, Rome, Italy
- Fondazione Policlinico Universitario Campus Bio-Medico, Via Alvaro del Portillo 200, 00128, Rome, Italy
| | - Vincenzo Di Lazzaro
- Research Unit of Neurology, Department of Medicine and Surgery, Università Campus Bio-Medico Di Roma, Via Alvaro del Portillo, 21, 00128, Rome, Italy
- Fondazione Policlinico Universitario Campus Bio-Medico, Via Alvaro del Portillo 200, 00128, Rome, Italy
| | - Giovanni Di Pino
- Research Unit of Neurophysiology and Neuroengineering of Human-Technology Interaction (NeXTlab), Università Campus Bio-Medico Di Roma, Via Álvaro Del Portillo 21, 00128, Rome, Italy.
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Bruni G, Marinelli A, Bucchieri A, Boccardo N, Caserta G, Di Domenico D, Barresi G, Florio A, Canepa M, Tessari F, Laffranchi M, De Michieli L. Object stiffness recognition and vibratory feedback without ad-hoc sensing on the Hannes prosthesis: A machine learning approach. Front Neurosci 2023; 17:1078846. [PMID: 36875662 PMCID: PMC9978002 DOI: 10.3389/fnins.2023.1078846] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/24/2022] [Accepted: 01/24/2023] [Indexed: 02/18/2023] Open
Abstract
Introduction In recent years, hand prostheses achieved relevant improvements in term of both motor and functional recovery. However, the rate of devices abandonment, also due to their poor embodiment, is still high. The embodiment defines the integration of an external object - in this case a prosthetic device - into the body scheme of an individual. One of the limiting factors causing lack of embodiment is the absence of a direct interaction between user and environment. Many studies focused on the extraction of tactile information via custom electronic skin technologies coupled with dedicated haptic feedback, though increasing the complexity of the prosthetic system. Contrary wise, this paper stems from the authors' preliminary works on multi-body prosthetic hand modeling and the identification of possible intrinsic information to assess object stiffness during interaction. Methods Based on these initial findings, this work presents the design, implementation and clinical validation of a novel real-time stiffness detection strategy, without ad-hoc sensing, based on a Non-linear Logistic Regression (NLR) classifier. This exploits the minimum grasp information available from an under-sensorized and under-actuated myoelectric prosthetic hand, Hannes. The NLR algorithm takes as input motor-side current, encoder position, and reference position of the hand and provides as output a classification of the grasped object (no-object, rigid object, and soft object). This information is then transmitted to the user via vibratory feedback to close the loop between user control and prosthesis interaction. This implementation was validated through a user study conducted both on able bodied subjects and amputees. Results The classifier achieved excellent performance in terms of F1Score (94.93%). Further, the able-bodied subjects and amputees were able to successfully detect the objects' stiffness with a F1Score of 94.08% and 86.41%, respectively, by using our proposed feedback strategy. This strategy allowed amputees to quickly recognize the objects' stiffness (response time of 2.82 s), indicating high intuitiveness, and it was overall appreciated as demonstrated by the questionnaire. Furthermore, an embodiment improvement was also obtained as highlighted by the proprioceptive drift toward the prosthesis (0.7 cm).
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Affiliation(s)
- Giulia Bruni
- Rehab Technologies, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Andrea Marinelli
- Rehab Technologies, Istituto Italiano di Tecnologia, Genoa, Italy.,Department of Informatics, Bioengineering, Robotics System Engineering (DIBRIS), University of Genova, Genoa, Italy
| | - Anna Bucchieri
- Rehab Technologies, Istituto Italiano di Tecnologia, Genoa, Italy.,Department of Electronics, Information and Bioengineering (NearLab), Politecnico of Milan, Milan, Italy
| | - Nicolò Boccardo
- Rehab Technologies, Istituto Italiano di Tecnologia, Genoa, Italy.,The Open University Affiliated Research Centre at Istituto Italiano di Tecnologia (ARC@IIT), Genoa, Italy
| | - Giulia Caserta
- Rehab Technologies, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Dario Di Domenico
- Rehab Technologies, Istituto Italiano di Tecnologia, Genoa, Italy.,Department of Electronics and Telecommunications, Politecnico of Torino, Turin, Italy
| | - Giacinto Barresi
- Rehab Technologies, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Astrid Florio
- Rehab Technologies, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Michele Canepa
- Rehab Technologies, Istituto Italiano di Tecnologia, Genoa, Italy.,The Open University Affiliated Research Centre at Istituto Italiano di Tecnologia (ARC@IIT), Genoa, Italy
| | - Federico Tessari
- Newman Laboratory, Massachusetts Institute of Technology, Boston, MA, United States
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Guémann M, Halgand C, Bastier A, Lansade C, Borrini L, Lapeyre É, Cattaert D, de Rugy A. Sensory substitution of elbow proprioception to improve myoelectric control of upper limb prosthesis: experiment on healthy subjects and amputees. J Neuroeng Rehabil 2022; 19:59. [PMID: 35690860 PMCID: PMC9188052 DOI: 10.1186/s12984-022-01038-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/04/2021] [Accepted: 05/31/2022] [Indexed: 11/10/2022] Open
Abstract
BACKGROUND Current myoelectric prostheses lack proprioceptive information and rely on vision for their control. Sensory substitution is increasingly developed with non-invasive vibrotactile or electrotactile feedback, but most systems are designed for grasping or object discriminations, and few were tested for online control in amputees. The objective of this work was evaluate the effect of a novel vibrotactile feedback on the accuracy of myoelectric control of a virtual elbow by healthy subjects and participants with an upper-limb amputation at humeral level. METHODS Sixteen, healthy participants and 7 transhumeral amputees performed myoelectric control of a virtual arm under different feedback conditions: vision alone (VIS), vibration alone (VIB), vision plus vibration (VIS + VIB), or no feedback at all (NO). Reach accuracy was evaluated by angular errors during discrete as well as back and forth movements. Healthy participants' workloads were assessed with the NASA-TLX questionnaire, and feedback conditions were ranked according to preference at the end of the experiment. RESULTS Reach errors were higher in NO than in VIB, indicating that our vibrotactile feedback improved performance as compared to no feedback. Conditions VIS and VIS+VIB display similar levels of performance and produced lower errors than in VIB. Vision remains therefore critical to maintain good performance, which is not ameliorated nor deteriorated by the addition of vibrotactile feedback. The workload associated with VIB was higher than for VIS and VIS+VIB, which did not differ from each other. 62.5% of healthy subjects preferred the VIS+VIB condition, and ranked VIS and VIB second and third, respectively. CONCLUSION Our novel vibrotactile feedback improved myoelectric control of a virtual elbow as compared to no feedback. Although vision remained critical, the addition of vibrotactile feedback did not improve nor deteriorate the control and was preferred by participants. Longer training should improve performances with VIB alone and reduce the need of vision for close-loop prosthesis control.
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Affiliation(s)
- Matthieu Guémann
- HYBRID Team, INCIA, CNRS, UMR 5287, Bordeaux, France. .,Unité de Physiologie de l'Exercice et des Activités en Conditions Extrêmes,Département Environnements Opérationnels, Institut de Recherche Biomédicale des Armées, Brétigny, France.
| | | | | | | | - Léo Borrini
- Physical and Rehabilitation Medicine Department, Percy Military Hospital, Clamart, France
| | - Éric Lapeyre
- Physical and Rehabilitation Medicine Department, Percy Military Hospital, Clamart, France
| | | | - Aymar de Rugy
- HYBRID Team, INCIA, CNRS, UMR 5287, Bordeaux, France
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Chai G, Wang H, Li G, Sheng X, Zhu X. Electrotactile feedback improves grip force control and enables object stiffness recognition while using a myoelectric hand. IEEE Trans Neural Syst Rehabil Eng 2022; 30:1310-1320. [PMID: 35533165 DOI: 10.1109/tnsre.2022.3173329] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
Current myoelectric hands are limited in their ability to provide effective sensory feedback to the users, which highly affects their functionality and utility. Although the sensory information of a myoelectric hand can be acquired with equipped sensors, transforming the sensory signals into effective tactile sensations on users for functional tasks is a largely unsolved challenge. The purpose of this study aims to demonstrate that electrotactile feedback of the grip force improves the sensorimotor control of a myoelectric hand and enables object stiffness recognition. The grip force of a sensorized myoelectric hand was delivered to its users via electrotactile stimulation based on four kinds of typical encoding strategies, including graded (G), linear amplitude (LA), linear frequency (LF), and biomimetic (B) modulation. Object stiffness was encoded with the change of electrotactile sensations triggered by final grip force, as the prosthesis grasped the objects. Ten able-bodied subjects and two transradial amputees were recruited to participate in a dual-task virtual eggs test (VET) and an object stiffness discrimination test (OSDT) to quantify the prosthesis users' ability to handle fragile objects and recognize object stiffnesses, respectively. The quantified results showed that with electrotactile feedback enabled, the four kinds of encoding strategies allowed subjects to better able to handle fragile objects with similar performance, and the subjects were able to differentiate four levels of object stiffness at favorable accuracies (>86%) and high manual efficiency. Strategy LA presented the best stiffness discrimination performance, while strategy B was able to reduce the discrimination time but the discrimination accuracy was not better than the other three strategies. Electrotactile feedback also enhanced prosthesis embodiment and improved the users' confidence in prosthetic control. Outcomes indicate electrotactile feedback can be effectively exploited by the prosthesis users for grip force control and object stiffness recognition, proving the feasibility of functional sensory restoration of myoelectric prostheses equipped with electrotactile feedback.
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Su S, Chai G, Meng J, Sheng X, Mouraux A, Zhu X. Towards optimizing the non-invasive sensory feedback interfaces in a neural prosthetic control. J Neural Eng 2022; 19. [DOI: 10.1088/1741-2552/ac4e1b] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/03/2021] [Accepted: 01/24/2022] [Indexed: 11/12/2022]
Abstract
Abstract
Objective. The somatotopic interface (SI) and non-somatotopic interface (NI) are commonly used to provide non-invasive sensory feedback. Nevertheless, differences between SI and NI are rarely reported, and objective evaluations of the corresponding brain response are missing as well. Few studies have reported how to design the stimulation encoding based on the two interfaces. The objective of this study was to investigate the difference in sensory characteristics between SI and NI, and propose an optimal encoding method for non-invasive feedback interfaces. Approach. We recruited seven amputees and compared the tactile sensitivity to stimulated positions and intensities between SI (phantom finger area) and NI (upper arm) in a tactile discrimination task. Electroencephalography (EEG) evaluation task was subsequently conducted to objectively evaluate the stimulus-evoked brain response. Finally, the two kinds of tactile information (stimulated position and intensity) was applied to an object recognition task. Specifically, the object size was reflected by the prosthetic finger position through stimulated position encoding, and the object stiffness was reflected by the contact force of prosthetic fingers through stimulated intensity encoding. We compared the performance under four feedback conditions (combinations between two kinds of tactile information and two interfaces). Results. Behavioral results showed that NI was more sensitive to position information while SI was more sensitive to intensity information. EEG results were consistent with behavioral results, showing a higher sensitivity of sensory alpha ERD for NI in the position discrimination, while the trend was opposite in the intensity discrimination. The feedback encoding allowed amputees to discriminate the size and stiffness of nine objects with the best performance of 62% overall accuracy (84% for size discrimination, 71% for stiffness discrimination) when position and intensity information was delivered on the NI and SI, respectively. Signicance. Our results provided an instructive strategy for sensory feedback via non-invasive solutions.
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Vargas L, Huang H, Zhu Y, Hu X. Object Recognition via Evoked Sensory Feedback during Control of a Prosthetic Hand. IEEE Robot Autom Lett 2022; 7:207-214. [PMID: 35784093 PMCID: PMC9248871 DOI: 10.1109/lra.2021.3122897] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/03/2023]
Abstract
Haptic and proprioceptive feedback is critical for sensorimotor integration when we use our hand to perform daily tasks. Here, we evaluated how externally evoked haptic and proprioceptive feedback and myoelectric control strategies affected the recognition of object properties when participants controlled a prosthetic hand. Fingertip haptic sensation was elicited using a transcutaneous nerve stimulation grid to encode the prosthetic's fingertip forces. An array of tactors elicited patterned vibratory stimuli to encode tactile-proprioceptive kinematic information of the prosthetic finger joint. Myoelectric signals of the finger flexor and extensor were used to control the position or velocity of joint angles of the prosthesis. Participants were asked to perform object property (stiffness and size) recognition, by controlling the prosthetic hand with concurrent haptic and tactile-proprioceptive feedback. With the evoked feedback, intact and amputee participants recognized the object stiffness and size at success rates ranging from 50% to 100% in both position and velocity control with no significant difference across control schemes. Our findings show that evoked somatosensory feedback in a non-invasive manner can facilitate closed-loop control of the prosthetic hand and allowed for simultaneous recognition of different object properties. The outcomes can facilitate our understanding on the role of sensory feedback during bidirectional human-machine interactions, which can potentially promote user experience in object interactions using prosthetic hands.
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Affiliation(s)
- Luis Vargas
- Joint Department of Biomedical Engineering at University of North Carolina-Chapel Hill and NC State University
| | - He Huang
- Joint Department of Biomedical Engineering at University of North Carolina-Chapel Hill and NC State University
| | - Yong Zhu
- Mechanical and Aerospace Engineering Department at NC State University
| | - Xiaogang Hu
- Joint Department of Biomedical Engineering at University of North Carolina-Chapel Hill and NC State University
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Mamidanna P, Dideriksen JL, Dosen S. The impact of objective functions on control policies in closed-loop control of grasping force with a myoelectric prosthesis. J Neural Eng 2021; 18. [PMID: 34479219 DOI: 10.1088/1741-2552/ac23c1] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/05/2021] [Accepted: 09/03/2021] [Indexed: 01/14/2023]
Abstract
Objective.Supplemental sensory feedback for myoelectric prostheses can provide both psychosocial and functional benefits during prosthesis control. However, the impact of feedback depends on multiple factors and there is insufficient understanding about the fundamental role of such feedback in prosthesis use. The framework of human motor control enables us to systematically investigate the user-prosthesis control loop. In this study, we explore how different task objectives such as speed and accuracy shape the control policy developed by participants in a prosthesis force-matching task.Approach.Participants were randomly assigned to two groups that both used identical electromyography control interface and prosthesis force feedback, through vibrotactile stimulation, to perform a prosthesis force-matching task. However, the groups received different task objectives specifying speed and accuracy demands. We then investigated the control policies developed by the participants. To this end, we not only evaluated how successful or fast participants were but also analyzed the behavioral strategies adopted by the participants to obtain such performance gains.Main results.First, we observed that participants successfully integrated supplemental prosthesis force feedback to develop both feedforward and feedback control policies, as demanded by the task objectives. We then observed that participants who first developed a (slow) feedback policy were quickly able to adapt their policy to more stringent speed demands, by switching to a combined feedforward-feedback control strategy. However, the participants who first developed a (fast) feedforward policy were not able to change their control policy and adjust to greater accuracy demands.Significance.Overall, the results signify how the framework of human motor control can be applied to study the role of feedback in user-prosthesis interaction. The results also reveal the utility of training prosthesis users to integrate supplemental feedback into their state estimation by designing training protocols that encourage the development of combined feedforward and feedback policy.
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Affiliation(s)
- Pranav Mamidanna
- Department of Health Science and Technology, Aalborg University, Aalborg, Denmark
| | | | - Strahinja Dosen
- Department of Health Science and Technology, Aalborg University, Aalborg, Denmark
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Gonzalez MA, Lee C, Kang J, Gillespie RB, Gates DH. Getting a Grip on the Impact of Incidental Feedback From Body-Powered and Myoelectric Prostheses. IEEE Trans Neural Syst Rehabil Eng 2021; 29:1905-1912. [PMID: 34516377 DOI: 10.1109/tnsre.2021.3111741] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Sensory feedback from body-powered and myoelectric prostheses are limited, but in different ways. Currently, there are no empirical studies on how incidental feedback differs between body-powered and myoelectric prostheses, or how these differences impact grasping. Thus, the purpose of this study was to quantify differences in grasping performance between body-powered and myoelectric prosthesis users when presented with different forms of feedback. Nine adults with upper limb loss and nine without (acting as controls) completed two tasks in a virtual environment. In the first task, participants used visual, vibration, or force feedback to assist in matching target grasp apertures. In the second task, participants used either visual or force feedback to identify the stiffness of a virtual object. Participants using either prosthesis type improved their accuracy and reduced their variability compared to the no feedback condition when provided with any form of feedback (p < 0.001). However, participants using body-powered prostheses were significantly more accurate and less variable at matching grasp apertures than those using myoelectric prostheses across all feedback conditions. When identifying stiffness, body-powered prosthesis users were more accurate using force feedback (64% compared to myoelectric users' 39%) while myoelectric users were more accurate using visual feedback (65% compared to body-powered users' 53%). This study supports previous findings that body-powered prosthesis users receive limited force and proprioceptive feedback, while myoelectric prosthesis users receive almost no force or proprioceptive feedback from their device. This work can inform future supplemental feedback that enhances rather than reproduces existing incidental feedback.
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Gholinezhad S, Dosen S, Jakob D. Electrotactile feedback outweighs natural feedback in sensory integration during control of grasp force. J Neural Eng 2021; 18. [PMID: 34416740 DOI: 10.1088/1741-2552/ac1fce] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/18/2021] [Accepted: 08/20/2021] [Indexed: 11/12/2022]
Abstract
Objective.The nervous system subconsciously estimates the state of the body as a weighted average of the information from various sensory sources, where the weights reflect the perceived reliability of each source. Loss of motor functions can be partially compensated using assistive systems (e.g. prostheses), which may also restore somatosensory feedback through tactile stimulation. Whether such artificial feedback is integrated in the neural state estimation process is not known.Approach.In this study, able-bodied subjects performed a grasp force matching task with supplementary non-invasive electrotactile stimulation with a frequency proportional to grasp force magnitude. Before the task, a brief training session taught the subjects to associate the sensation of electrotactile stimulation with the generated grasp force. In some trials, the force-frequency mapping was biased to introduce an unnoticeable mismatch between natural and electrotactile force feedback, thereby provoking the subject to subconsciously estimate the force as a compromise between the two sources of information.Main results.The outcome of this compromise revealed the weights assigned to each feedback type. The grasp forces were significantly affected by the biased mappings, as indicated by the average estimated relative weights (electrotactile: 0.69 ± 0.29; natural: 0.31 ± 0.29). Across subjects, this weight was correlatedr2=0.75) with the improvement in force matching precision when adding the unbiased electrotactile feedback to the natural force feedback, as predicted by maximum likelihood estimation. This shows that even after minimal training the nervous system adopts electrotactile stimulation as a highly reliable source of information that can improve the precision in the estimation of the grip force.Significance.This result has important implications for the restoration of sensory feedback in upper limb prostheses as it indicates that even non-invasive stimulation can be integrated naturally (i.e. subconsciously and effectively) in the motor controlloop.
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Affiliation(s)
- Shima Gholinezhad
- Department of Health Science and Technology, Aalborg University, Aalborg, Denmark
| | - Strahinja Dosen
- Department of Health Science and Technology, Aalborg University, Aalborg, Denmark
| | - Dideriksen Jakob
- Department of Health Science and Technology, Aalborg University, Aalborg, Denmark
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Vargas L, Huang H, Zhu Y, Hu X. Stiffness Perception using Transcutaneous Electrical Stimulation during Active and Passive Prosthetic Control. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2020; 2020:3909-3912. [PMID: 33018855 DOI: 10.1109/embc44109.2020.9176078] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
Haptic feedback allows an individual to identify various object properties. In this preliminary study, we determined the performance of stiffness recognition using transcutaneous nerve stimulation when a prosthetic hand was moved passively or was controlled actively by the subjects. Using a 2x8 electrode grid placed along the subject's upper arm, electrical stimulation was delivered to evoke somatotopic sensation along their index finger. Stimulation intensity, i.e. sensation strength, was modulated using the fingertip forces from a sensorized prosthetic hand. Object stiffness was encoded based on the rate of change of the evoked sensation as the prosthesis grasped one of three objects of different stiffness levels. During active control, sensation was modulated in real time as recorded forces were converted to stimulation amplitudes. During passive control, prerecorded force traces were randomly selected from a pool. Our results showed that the accuracy of object stiffness recognition was similar in both active and passive conditions. A slightly lower accuracy was observed during active control in one subject, which indicated that the sensorimotor integration processes could affect haptic perception for some users.
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12
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Sagastegui Alva PG, Muceli S, Farokh Atashzar S, William L, Farina D. Wearable multichannel haptic device for encoding proprioception in the upper limb. J Neural Eng 2020; 17:056035. [PMID: 32674081 DOI: 10.1088/1741-2552/aba6da] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022]
Abstract
OBJECTIVE We present the design, implementation, and evaluation of a wearable multichannel haptic system. The device is a wireless closed-loop armband driven by surface electromyography (EMG) and provides sensory feedback encoding proprioception. The study is motivated by restoring proprioception information in upper limb prostheses. APPROACH The armband comprises eight vibrotactile actuators that generate distributed patterns of mechanical waves around the limb to stimulate perception and to transfer proportional information on the arm motion. An experimental study was conducted to assess: the sensory threshold in eight locations around the forearm, the user adaptation to the sensation provided by the device, the user performance in discriminating multiple stimulation levels, and the device performance in coding proprioception using four spatial patterns of stimulation. Eight able-bodied individuals performed reaching tasks by controlling a cursor with an EMG interface in a virtual environment. Vibrotactile patterns were tested with and without visual information on the cursor position with the addition of a random rotation of the reference control system to disturb the natural control and proprioception. MAIN RESULTS The sensation threshold depended on the actuator position and increased over time. The maximum resolution for stimuli discrimination was four. Using this resolution, four patterns of vibrotactile activation with different spatial and magnitude properties were generated to evaluate their performance in enhancing proprioception. The optimal vibration pattern varied among the participants. When the feedback was used in closed-loop control with the EMG interface, the task success rate, completion time, execution efficiency, and average target-cursor distance improved for the optimal stimulation pattern compared to the condition without visual or haptic information on the cursor position. SIGNIFICANCE The results indicate that the vibrotactile device enhanced the participants' perceptual ability, suggesting that the proposed closed-loop system has the potential to code proprioception and enhance user performance in the presence of perceptual perturbation.
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Hazubski S, Hoppe H, Otte A. Electrode-free visual prosthesis/exoskeleton control using augmented reality glasses in a first proof-of-technical-concept study. Sci Rep 2020; 10:16279. [PMID: 33004950 PMCID: PMC7530745 DOI: 10.1038/s41598-020-73250-6] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/12/2020] [Accepted: 09/15/2020] [Indexed: 11/08/2022] Open
Abstract
In the field of neuroprosthetics, the current state-of-the-art method involves controlling the prosthesis with electromyography (EMG) or electrooculography/electroencephalography (EOG/EEG). However, these systems are both expensive and time consuming to calibrate, susceptible to interference, and require a lengthy learning phase by the patient. Therefore, it is an open challenge to design more robust systems that are suitable for everyday use and meet the needs of patients. In this paper, we present a new concept of complete visual control for a prosthesis, an exoskeleton or another end effector using augmented reality (AR) glasses presented for the first time in a proof-of-concept study. By using AR glasses equipped with a monocular camera, a marker attached to the prosthesis is tracked. Minimal relative movements of the head with respect to the prosthesis are registered by tracking and used for control. Two possible control mechanisms including visual feedback are presented and implemented for both a motorized hand orthosis and a motorized hand prosthesis. Since the grasping process is mainly controlled by vision, the proposed approach appears to be natural and intuitive.
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Affiliation(s)
- Simon Hazubski
- Laboratory of Computer Assisted Medicine, Division of Medical Engineering, Department of Electrical Engineering, Medical Engineering and Computer Science, Offenburg University, Badstr. 24, 77652, Offenburg, Germany
- Laboratory of NeuroScience, Division of Medical Engineering, Department of Electrical Engineering, Medical Engineering and Computer Science, Offenburg University, Badstr. 24, 77652, Offenburg, Germany
| | - Harald Hoppe
- Laboratory of Computer Assisted Medicine, Division of Medical Engineering, Department of Electrical Engineering, Medical Engineering and Computer Science, Offenburg University, Badstr. 24, 77652, Offenburg, Germany
| | - Andreas Otte
- Laboratory of NeuroScience, Division of Medical Engineering, Department of Electrical Engineering, Medical Engineering and Computer Science, Offenburg University, Badstr. 24, 77652, Offenburg, Germany.
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Silveira C, Brunton E, Escobedo-Cousin E, Gupta G, Whittaker R, O'Neill A, Nazarpour K. W:Ti Flexible Transversal Electrode Array for Peripheral Nerve Stimulation: A Feasibility Study. IEEE Trans Neural Syst Rehabil Eng 2020; 28:2136-2143. [PMID: 32790633 DOI: 10.1109/tnsre.2020.3014812] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
Abstract
The development of hardware for neural interfacing remains a technical challenge. We introduce a flexible, transversal intraneural tungsten:titanium electrode array for acute studies. We characterize the electrochemical properties of this new combination of tungsten and titanium using cyclic voltammetry and electrochemical impedance spectroscopy. With an in-vivo rodent study, we show that the stimulation of peripheral nerves with this electrode array is possible and that more than half of the electrode contacts can yield a stimulation selectivity index of 0.75 or higher at low stimulation currents. This feasibility study paves the way for the development of future cost-effective and easy-to-fabricate neural interfacing electrodes for acute settings, which ultimately can inform the development of technologies that enable bi-directional communication with the human nervous system.
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15
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Garenfeld MA, Mortensen CK, Strbac M, Dideriksen JL, Dosen S. Amplitude versus spatially modulated electrotactile feedback for myoelectric control of two degrees of freedom. J Neural Eng 2020; 17:046034. [PMID: 32650320 DOI: 10.1088/1741-2552/aba4fd] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/26/2022]
Abstract
OBJECTIVE Artificial proprioceptive feedback from a myoelectric prosthesis is an important aspect in enhancing embodiment and user satisfaction, possibly lowering the demand for visual attention while controlling a prosthesis in everyday tasks. Contemporary myoelectric prostheses are advanced mechatronic systems with multiple degrees of freedom, and therefore, to communicate the prosthesis state, the feedback interface needs to transmit several variables simultaneously. In the present study, two different configurations for conveying proprioceptive information of wrist rotation and hand aperture through multichannel electrotactile stimulation were developed and evaluated during online myoelectric control. APPROACH Myoelectric recordings were acquired from the dominant forearm and electrotactile stimulation was delivered on the non-dominant forearm using a compact interface. The first feedback configuration, which was based on spatial coding, transmitted the information using a moving tactile stimulus, whereas the second, amplitude-based configuration conveyed the position via sensation intensity. Thirteen able-bodied subjects used pattern classification-based myoelectric control with both feedback configurations to accomplish a target-reaching task. MAIN RESULTS High task performance (completion rate > 90%) was observed for both configurations, with no significant difference in completion rate, time to reach the target, distance error and path efficiency, respectively. SIGNIFICANCE Overall, the results demonstrated that both feedback configurations allowed subjects to perceive and interpret two feedback variables delivered simultaneously, despite using a compact stimulation interface. This is an encouraging result for the prospect of communicating the full state of a multifunctional hand prosthesis.
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Affiliation(s)
- Martin A Garenfeld
- Department of Health Science and Technology, Aalborg University, Frederik Bajers Vej 7D, 9220, Aalborg Ø, Denmark
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Escamilla-Nunez R, Michelini A, Andrysek J. Biofeedback Systems for Gait Rehabilitation of Individuals with Lower-Limb Amputation: A Systematic Review. SENSORS 2020; 20:s20061628. [PMID: 32183338 PMCID: PMC7146745 DOI: 10.3390/s20061628] [Citation(s) in RCA: 25] [Impact Index Per Article: 6.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/18/2020] [Revised: 03/11/2020] [Accepted: 03/12/2020] [Indexed: 12/17/2022]
Abstract
Individuals with lower-limb amputation often have gait deficits and diminished mobility function. Biofeedback systems have the potential to improve gait rehabilitation outcomes. Research on biofeedback has steadily increased in recent decades, representing the growing interest toward this topic. This systematic review highlights the methodological designs, main technical and clinical challenges, and evidence relating to the effectiveness of biofeedback systems for gait rehabilitation. This review provides insights for developing an effective, robust, and user-friendly wearable biofeedback system. The literature search was conducted on six databases and 31 full-text articles were included in this review. Most studies found biofeedback to be effective in improving gait. Biofeedback was most commonly concurrently provided and related to limb loading and symmetry ratios for stance or step time. Visual feedback was the most used modality, followed by auditory and haptic. Biofeedback must not be obtrusive and ideally provide a level of enjoyment to the user. Biofeedback appears to be most effective during the early stages of rehabilitation but presents some usability challenges when applied to the elderly. More research is needed on younger populations and higher amputation levels, understanding retention as well as the relationship between training intensity and performance.
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Affiliation(s)
- Rafael Escamilla-Nunez
- Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, ON M4Y 1R5, Canada; (R.E.-N.); (A.M.)
- Bloorview Research Institute, Holland Bloorview Kids Rehabilitation Hospital, Toronto, ON M4G 1R8, Canada
| | - Alexandria Michelini
- Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, ON M4Y 1R5, Canada; (R.E.-N.); (A.M.)
- Bloorview Research Institute, Holland Bloorview Kids Rehabilitation Hospital, Toronto, ON M4G 1R8, Canada
| | - Jan Andrysek
- Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, ON M4Y 1R5, Canada; (R.E.-N.); (A.M.)
- Bloorview Research Institute, Holland Bloorview Kids Rehabilitation Hospital, Toronto, ON M4G 1R8, Canada
- Correspondence:
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Schofield JS, Shell CE, Beckler DT, Thumser ZC, Marasco PD. Long-Term Home-Use of Sensory-Motor-Integrated Bidirectional Bionic Prosthetic Arms Promotes Functional, Perceptual, and Cognitive Changes. Front Neurosci 2020; 14:120. [PMID: 32140096 PMCID: PMC7042391 DOI: 10.3389/fnins.2020.00120] [Citation(s) in RCA: 36] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/10/2019] [Accepted: 01/30/2020] [Indexed: 12/24/2022] Open
Abstract
Cutaneous sensation is vital to controlling our hands and upper limbs. It helps close the motor control loop by informing adjustments of grasping forces during object manipulations and provides much of the information the brain requires to perceive our limbs as a part of our bodies. This sensory information is absent to upper-limb prosthesis users. Although robotic prostheses are becoming increasingly sophisticated, the absence of feedback imposes a reliance on open-loop control and limits the functional potential as an integrated part of the body. Experimental systems to restore physiologically relevant sensory information to prosthesis users are beginning to emerge. However, the impact of their long-term use on functional abilities, body image, and neural adaptation processes remains unclear. Understanding these effects is essential to transition sensate prostheses from sophisticated assistive tools to integrated replacement limbs. We recruited three participants with high-level upper-limb amputation who previously received targeted reinnervation surgery. Each participant was fit with a neural-machine-interface prosthesis that allowed participants to operate their device by thinking about moving their missing limb. Additionally, we fit a sensory feedback system that allowed participants to experience touch to the prosthesis as touch on their missing limb. All three participants performed a long-term take-home trial. Two participants used their neural-machine-interface systems with touch feedback and one control participant used his prescribed, insensate prosthesis. A series of functional outcome metrics and psychophysical evaluations were performed using sensate neural-machine-interface prostheses before and after the take-home period to capture changes in functional abilities, limb embodiment, and neural adaptation. Our results demonstrated that the relationship between users and sensate neural-machine-interface prostheses is dynamic and changes with long-term use. The presence of touch sensation had a near-immediate impact on how the users operated their prostheses. In the multiple independent measures of users’ functional abilities employed, we observed a spectrum of performance changes following long-term use. Furthermore, after the take-home period, participants more appropriately integrated their prostheses into their body images and psychophysical tests provided strong evidence that neural and cortical adaptation occurred.
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Affiliation(s)
- Jonathon S Schofield
- Department of Mechanical and Aerospace Engineering, University of California, Davis, Davis, CA, United States
| | - Courtney E Shell
- Department of Biomedical Engineering, Lerner Research Institute-Cleveland Clinic, Cleveland, OH, United States.,Advanced Platform Technology Center, Louis Stokes Cleveland VA Medical Center, Cleveland, OH, United States
| | - Dylan T Beckler
- Department of Biomedical Engineering, Lerner Research Institute-Cleveland Clinic, Cleveland, OH, United States
| | - Zachary C Thumser
- Department of Biomedical Engineering, Lerner Research Institute-Cleveland Clinic, Cleveland, OH, United States.,Research Service, Louis Stokes Cleveland VA Medical Center, Cleveland, OH, United States
| | - Paul D Marasco
- Department of Biomedical Engineering, Lerner Research Institute-Cleveland Clinic, Cleveland, OH, United States.,Advanced Platform Technology Center, Louis Stokes Cleveland VA Medical Center, Cleveland, OH, United States
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18
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Gathmann T, Atashzar SF, Alva PGS, Farina D. Wearable Dual-Frequency Vibrotactile System for Restoring Force and Stiffness Perception. IEEE TRANSACTIONS ON HAPTICS 2020; 13:191-196. [PMID: 31985443 DOI: 10.1109/toh.2020.2969162] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
Recently, there has been substantial progress in the mechatronic design and myoelectric control of active prostheses. However, a significant unmet need is the lack of sensory feedback in commercial prostheses for upper-limb amputees. The lack of sensory perception impacts on the control performance and embodiment, determining relatively high rejection rates. Previous research has been conducted to evaluate various non-invasive substitutional sensory channels, mainly to regenerate haptic perception. However, providing sensory channels for stiffness perception has been much less explored. In this short paper, we propose a non-invasive wearable sensory armband, named vibrotactile frequency modulation (V-FM) system. Using the V-FM, we implement a closed-loop myocontrol system with force and stiffness perception. A user study was conducted based on a repetitive two-forced alternative choice discrimination test in six able-bodied participants. The study was designed according to the method of constant stimuli. Results showed that using the V-FM armband, the participants recovered sensation comparable (in terms of difference threshold) to the natural stiffness perception. This demonstrated the potential of the proposed V-FM armband in restoring haptic and stiffness perception non-invasively.
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19
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Wilke MA, Niethammer C, Meyer B, Farina D, Dosen S. Psychometric characterization of incidental feedback sources during grasping with a hand prosthesis. J Neuroeng Rehabil 2019; 16:155. [PMID: 31823792 PMCID: PMC6902515 DOI: 10.1186/s12984-019-0622-9] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/11/2019] [Accepted: 11/13/2019] [Indexed: 11/17/2022] Open
Abstract
Background A prosthetic system should ideally reinstate the bidirectional communication between the user’s brain and its end effector by restoring both motor and sensory functions lost after an amputation. However, current commercial prostheses generally do not incorporate somatosensory feedback. Even without explicit feedback, grasping using a prosthesis partly relies on sensory information. Indeed, the prosthesis operation is characterized by visual and sound cues that could be exploited by the user to estimate the prosthesis state. However, the quality of this incidental feedback has not been objectively evaluated. Methods In this study, the psychometric properties of the auditory and visual feedback of prosthesis motion were assessed and compared to that of a vibro-tactile interface. Twelve able-bodied subjects passively observed prosthesis closing and grasping an object, and they were asked to discriminate (experiment I) or estimate (experiment II) the closing velocity of the prosthesis using visual (VIS), acoustic (SND), or combined (VIS + SND) feedback. In experiment II, the subjects performed the task also with a vibrotactile stimulus (VIB) delivered using a single tactor. The outcome measures for the discrimination and estimation experiments were just noticeable difference (JND) and median absolute estimation error (MAE), respectively. Results The results demonstrated that the incidental sources provided a remarkably good discrimination and estimation of the closing velocity, significantly outperforming the vibrotactile feedback. Using incidental sources, the subjects could discriminate almost the minimum possible increment/decrement in velocity that could be commanded to the prosthesis (median JND < 2% for SND and VIS + SND). Similarly, the median MAE in estimating the prosthesis velocity randomly commanded from the full working range was also low, i.e., approximately 5% in SND and VIS + SND. Conclusions Since the closing velocity is proportional to grasping force in state-of-the-art myoelectric prostheses, the results of the present study imply that the incidental feedback, when available, could be usefully exploited for grasping force control. Therefore, the impact of incidental feedback needs to be considered when designing a feedback interface in prosthetics, especially since the quality of estimation using supplemental sources (e.g., vibration) can be worse compared to that of the intrinsic cues.
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Affiliation(s)
- Meike Annika Wilke
- Department of Biotechnology, University for Applied Sciences Hamburg, Hamburg, Germany. .,Advanced Rehabilitation Technology (ART) Lab, Department for Trauma Surgery, Orthopaedics and Plastic Surgery, Universitätsmedizin Göttingen (UMG), Göttingen, Germany.
| | - Christian Niethammer
- Advanced Rehabilitation Technology (ART) Lab, Department for Trauma Surgery, Orthopaedics and Plastic Surgery, Universitätsmedizin Göttingen (UMG), Göttingen, Germany.,Department of Computer Science, Eberhard-Karls University Tübingen, Tübingen, Germany
| | - Britta Meyer
- Advanced Rehabilitation Technology (ART) Lab, Department for Trauma Surgery, Orthopaedics and Plastic Surgery, Universitätsmedizin Göttingen (UMG), Göttingen, Germany
| | - Dario Farina
- Advanced Rehabilitation Technology (ART) Lab, Department for Trauma Surgery, Orthopaedics and Plastic Surgery, Universitätsmedizin Göttingen (UMG), Göttingen, Germany.,Department of Bioengineering, Imperial College London, London, UK
| | - Strahinja Dosen
- Advanced Rehabilitation Technology (ART) Lab, Department for Trauma Surgery, Orthopaedics and Plastic Surgery, Universitätsmedizin Göttingen (UMG), Göttingen, Germany.,Department of Health Science and Technology, Center for Sensory-Motor Interaction, Aalborg University, Aalborg, Denmark
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20
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Vargas L, Shin H, Huang H(H, Zhu Y, Hu X. Object stiffness recognition using haptic feedback delivered through transcutaneous proximal nerve stimulation. J Neural Eng 2019; 17:016002. [PMID: 31610530 PMCID: PMC7237382 DOI: 10.1088/1741-2552/ab4d99] [Citation(s) in RCA: 16] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/17/2022]
Abstract
OBJECTIVE Haptic feedback is crucial when we manipulate objects. Information pertaining to an object's stiffness in particular can help facilitate fine motor control. In this study, we seek to determine whether objects of different stiffness levels can be recognized using haptic feedback provided by transcutaneous electrical stimulation of peripheral nerves. APPROACH Using a stimulation electrode grid placed along the medial side of the upper arm, the median and ulnar nerve bundles were targeted to evoke haptic sensation on the palmar side of the hand. Stimulation current amplitude was modulated in real-time with the fingertip force recorded from a sensorized prosthetic hand. In order to evaluate which stimulation pattern was more critical, object stiffness was encoded either by the rate of change of the stimulus amplitude or the level of peak stimulus amplitude, as the prosthesis grasped the objects. MAIN RESULTS Both encoding methods allowed the subjects to differentiate objects of different stiffness levels with >90% accuracy. No significant difference was observed between the two encoding methods, which indicated that both the rate of change of the stimulation amplitude and the peak stimulation amplitude could effectively provide stiffness information of the objects. SIGNIFICANCE The outcomes suggest that it is possible to elicit haptic sensations describing various object stiffness levels using transcutaneous nerve stimulation. The haptic feedback associated with object stiffness can facilitate object manipulation/interactions. It may also improve user experience during human-machine interactions, when object stiffness information is incorporated.
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Affiliation(s)
- Luis Vargas
- Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill, and North Carolina State University, United States of America
| | - Henry Shin
- Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill, and North Carolina State University, United States of America
| | - He (Helen) Huang
- Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill, and North Carolina State University, United States of America
| | - Yong Zhu
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, United States of America
| | - Xiaogang Hu
- Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill, and North Carolina State University, United States of America
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Guemann M, Bouvier S, Halgand C, Paclet F, Borrini L, Ricard D, Lapeyre E, Cattaert D, Rugy AD. Effect of vibration characteristics and vibror arrangement on the tactile perception of the upper arm in healthy subjects and upper limb amputees. J Neuroeng Rehabil 2019; 16:138. [PMID: 31722740 PMCID: PMC6854744 DOI: 10.1186/s12984-019-0597-6] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/17/2019] [Accepted: 09/20/2019] [Indexed: 12/05/2022] Open
Abstract
Background Vibrotactile stimulation is a promising venue in the field of prosthetics to retrain sensory feedback deficits following amputation. Discrimination is well established at the forearm level but not at the upper arm level. Moreover, the effects of combining vibration characteristics such as duration and intensity has never been investigated. Method We conducted experiments on spatial discrimination (experiment 1) and tactile intensity perception (experiment 2), using 9 combinations of 3 intensities and 3 durations of vibror stimulations device. Those combinations were tested under 4 arrangements with an array of 6 vibrors. In both experiments, linear orientation aligned with the upper arm longitudinal axis were compared to circular orientation on the upper arm circumference. For both orientations, vibrors were placed either with 3cm space between the center of 2 vibrors or proportionally to the length or the circumference of the subject upper arm. Eleven heathy subjects underwent the 2 experiments and 7 amputees (humeral level) participated in the spatial discrimination task with the best arrangement found. Results Experiment 1 revealed that circular arrangements elicited better scores than the linear ones. Arrangements with vibrors spaced proportionally elicited better scores (up to 75% correct) than those with 3 cm spacing. Experiment 2, showed that the perceived intensity of the vibration increases with the intensity of the vibrors’ activation, but also with their duration of activation. The 7 patients obtained high scores (up to 91.67% correct) with the circular proportional (CP) arrangement. Discussion These results highlight that discrete and short vibrations can be well discriminated by healthy subjects and people with an upper limb amputation. These new characteristics of vibrations have great potential for future sensory substitution application in closed-loop prosthetic control.
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Affiliation(s)
- Matthieu Guemann
- Team HYBRID; INCIA laboratory, CNRS UMR 5287, University of Bordeaux, 146 rue Leo Saignat, Bordeaux, 33076, France.
| | | | - Christophe Halgand
- Team HYBRID; INCIA laboratory, CNRS UMR 5287, University of Bordeaux, 146 rue Leo Saignat, Bordeaux, 33076, France
| | - Florent Paclet
- Team HYBRID; INCIA laboratory, CNRS UMR 5287, University of Bordeaux, 146 rue Leo Saignat, Bordeaux, 33076, France
| | - Leo Borrini
- Departement of Rehabilitation at the Army instruction Hospital, 1 Rue du Lieutenant Raoul Batany, Clamart, 92190, France
| | - Damien Ricard
- Department of Neurology at the Army instruction Hospital, 1 Rue du Lieutenant Raoul Batany, Clamart, 92190, France
| | - Eric Lapeyre
- Departement of Rehabilitation at the Army instruction Hospital, 1 Rue du Lieutenant Raoul Batany, Clamart, 92190, France
| | - Daniel Cattaert
- Team HYBRID; INCIA laboratory, CNRS UMR 5287, University of Bordeaux, 146 rue Leo Saignat, Bordeaux, 33076, France
| | - Aymar de Rugy
- Team HYBRID; INCIA laboratory, CNRS UMR 5287, University of Bordeaux, 146 rue Leo Saignat, Bordeaux, 33076, France.,Centre for sensorimotor performance HMNS, University of Queensland, Brisbane, Australia
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Yi N, Cui H, Zhang LG, Cheng H. Integration of biological systems with electronic-mechanical assemblies. Acta Biomater 2019; 95:91-111. [PMID: 31004844 PMCID: PMC6710161 DOI: 10.1016/j.actbio.2019.04.032] [Citation(s) in RCA: 18] [Impact Index Per Article: 3.6] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/01/2018] [Revised: 04/10/2019] [Accepted: 04/11/2019] [Indexed: 02/06/2023]
Abstract
Biological systems continuously interact with the surrounding environment because they are dynamically evolving. The interaction is achieved through mechanical, electrical, chemical, biological, thermal, optical, or a synergistic combination of these cues. To provide a fundamental understanding of the interaction, recent efforts that integrate biological systems with the electronic-mechanical assemblies create unique opportunities for simultaneous monitoring and eliciting the responses to the biological system. Recent innovations in materials, fabrication processes, and device integration approaches have created the enablers to yield bio-integrated devices to interface with the biological system, ranging from cells and tissues to organs and living individual. In this short review, we will provide a brief overview of the recent development on the integration of the biological systems with electronic-mechanical assemblies across multiple scales, with applications ranging from healthcare monitoring to therapeutic options such as drug delivery and rehabilitation therapies. STATEMENT OF SIGNIFICANCE: An overview of the recent progress on the integration of the biological system with both electronic and mechanical assemblies is discussed. The integration creates the unique opportunity to simultaneously monitor and elicit the responses to the biological system, which provides a fundamental understanding of the interaction between the biological system and the electronic-mechanical assemblies. Recent innovations in materials, fabrication processes, and device integration approaches have created the enablers to yield bio-integrated devices to interface with the biological system, ranging from cells and tissues to organs and living individual.
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Affiliation(s)
- Ning Yi
- Department of Materials Science and Engineering, The Pennsylvania State University, University Park, PA 16802, USA
| | - Haitao Cui
- Department of Mechanical and Aerospace Engineering, The George Washington University, Washington, DC 20052, USA
| | - Lijie Grace Zhang
- Department of Mechanical and Aerospace Engineering, The George Washington University, Washington, DC 20052, USA; Departments of Electrical and Computer Engineering, Biomedical Engineering, and Medicine, The George Washington University, Washington DC 20052, USA
| | - Huanyu Cheng
- Department of Materials Science and Engineering, The Pennsylvania State University, University Park, PA 16802, USA; Department of Engineering Science and Mechanics, and Materials Research Institute, The Pennsylvania State University, University Park, PA 16802, USA.
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Comparison of vibrotactile and joint-torque feedback in a myoelectric upper-limb prosthesis. J Neuroeng Rehabil 2019; 16:70. [PMID: 31186005 PMCID: PMC6558922 DOI: 10.1186/s12984-019-0545-5] [Citation(s) in RCA: 17] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/15/2019] [Accepted: 05/28/2019] [Indexed: 11/10/2022] Open
Abstract
BACKGROUND Despite the technological advancements in myoelectric prostheses, body-powered prostheses remain a popular choice for amputees, in part due to the natural sensory advantage they provide. Research on haptic feedback in myoelectric prostheses has delivered mixed results. Furthermore, there is limited research comparing various haptic feedback modalities in myoelectric prostheses. In this paper, we present a comparison of the feedback intrinsically present in body-powered prostheses (joint-torque feedback) to a commonly proposed feedback modality for myoelectric prostheses (vibrotactile feedback). In so doing, we seek to understand whether the advantages of kinesthetic feedback present in body-powered prostheses translate to myoelectric prostheses, and whether there are differences between kinesthetic and cutaneous feedback in prosthetic applications. METHODS We developed an experimental testbed that features a cable-driven, voluntary-closing 1-DoF prosthesis, a capstan-driven elbow exoskeleton, and a vibrotactile actuation unit. The system can present grip force to users as either a flexion moment about the elbow or vibration on the wrist. To provide an equal comparison of joint-torque and vibrotactile feedback, a stimulus intensity matching scheme was utilized. Non-amputee participants (n=12) were asked to discriminate objects of varying stiffness with the prosthesis in three conditions: no haptic feedback, vibrotactile feedback, and joint-torque feedback. RESULTS Results indicate that haptic feedback increased discrimination accuracy over no haptic feedback, but the difference between joint-torque feedback and vibrotactile feedback was not significant. In addition, our results highlight nuanced differences in performance depending on the objects' stiffness, and suggest that participants likely pay less attention to incidental cues with the addition of haptic feedback. CONCLUSION Even when haptic feedback is not modality matched to the task, such as in the case of vibrotactile feedback, performance with a myoelectric prosthesis can improve significantly. This implies it is possible to achieve the same benefits with vibrotactile feedback, which is cheaper and easier to implement than other forms of feedback.
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Kang J, Gonzalez MA, Gillespie RB, Gates DH. A Haptic Object to Quantify the Effect of Feedback Modality on Prosthetic Grasping. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2894388] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Vargas L, Whitehouse G, Huang H, Zhu Y, Hu X. Evoked Haptic Sensation in the Hand With Concurrent Non-Invasive Nerve Stimulation. IEEE Trans Biomed Eng 2019; 66:2761-2767. [PMID: 30703003 DOI: 10.1109/tbme.2019.2895575] [Citation(s) in RCA: 14] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/28/2023]
Abstract
OBJECTIVE Haptic perception is critical for prosthetic users to control their prosthetic hand intuitively. In this study, we seek to evaluate the haptic perception evoked from concurrent stimulation trains through multiple channels using transcutaneous nerve stimulation. METHODS A 2 × 8 electrode grid was used to deliver current to the median and ulnar nerves in the upper arm. Different electrodes were first selected to activate the sensory axons, which can elicit sensations at different locations of the hand. Charge-balanced bipolar stimulation was then delivered to two sets of electrodes concurrently with a phase delay (dual stimulation) to determine whether the evoked sensation can be constructed from sensations of single stimulation delivered separately at different locations (single stimulation) along the electrode grid. The temporal delay between the two stimulation trains was altered to evaluate potential interference. The short-term stability of the haptic sensation within a testing session was also evaluated. RESULTS The evoked sensation during dual stimulation was largely a direct summation of the sensation from single stimulations. The delay between the two stimulation locations had minimal effect on the evoked sensations, which was also stable over repeated testing within a session. CONCLUSION Our results indicated that the haptic sensations at different regions of the hand can be constructed by combining the response from multiple stimulation trains directly. The interference between stimulations were minimal. SIGNIFICANCE The outcomes will allow us to construct specific haptic sensation patterns when the prosthesis interacts with different objects, which may help improve user embodiment of the prosthesis.
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Pena AE, Rincon-Gonzalez L, Abbas JJ, Jung R. Effects of vibrotactile feedback and grasp interface compliance on perception and control of a sensorized myoelectric hand. PLoS One 2019; 14:e0210956. [PMID: 30650161 PMCID: PMC6334959 DOI: 10.1371/journal.pone.0210956] [Citation(s) in RCA: 21] [Impact Index Per Article: 4.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/18/2018] [Accepted: 01/04/2019] [Indexed: 11/18/2022] Open
Abstract
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.
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Affiliation(s)
- Andres E. Pena
- Department of Biomedical Engineering, Florida International University, Miami, FL, United States of America
| | - Liliana Rincon-Gonzalez
- Department of Biomedical Engineering, Florida International University, Miami, FL, United States of America
| | - James J. Abbas
- School of Biological & Health Systems Engineering, Arizona State University, Tempe, AZ, United States of America
| | - Ranu Jung
- Department of Biomedical Engineering, Florida International University, Miami, FL, United States of America
- * E-mail:
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Raveh E, Portnoy S, Friedman J. Myoelectric Prosthesis Users Improve Performance Time and Accuracy Using Vibrotactile Feedback When Visual Feedback Is Disturbed. Arch Phys Med Rehabil 2018; 99:2263-2270. [DOI: 10.1016/j.apmr.2018.05.019] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/03/2018] [Revised: 05/01/2018] [Accepted: 05/09/2018] [Indexed: 11/28/2022]
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Fontana JM, O’Brien R, Laciar E, Maglione LS, Molisani L. Vibrotactile Stimulation in the Upper-Arm for Restoring Individual Finger Sensations in Hand Prosthesis. J Med Biol Eng 2018. [DOI: 10.1007/s40846-018-0374-1] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
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Abstract
OBJECTIVE The objective of this study was to compare the use of muscles appropriate for partial-hand prostheses with those typically used for complete hand devices and to determine whether differences in their underlying neural substrates translate to different levels of myoelectric control. APPROACH We developed a novel abstract myoelectric decoder based on motor learning. Three muscle pairs, namely, an intrinsic and independent, an intrinsic and synergist and finally, an extrinsic and antagonist, were tested during abstract myoelectric control. Feedback conditions probed the roles of feed-forward and feedback mechanisms. RESULTS Both performance levels and rates of improvement were significantly higher for intrinsic hand muscles relative to muscles of the forearm. Intrinsic hand muscles showed considerable improvement generalising to decoder use without visual feedback. Results indicate that visual feedback from the decoder is used for transitioning between muscle activity levels, but not for maintaining state. Both individual and group performance were found to be strongly related to motor variability. SIGNIFICANCE Physiological differences inherent to the hand muscles can translate to improved prosthesis control. Our results support the use of motor learning based techniques for upper-limb myoelectric control and strongly argues for their utility in control of partial-hand prostheses. We provide evidence of myoelectric control skill acquisition and offer a formal definition for abstract decoding in the context of prosthetic control.
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Affiliation(s)
- Matthew Dyson
- Intelligent Sensing Laboratory, School of Engineering, Newcastle University, NE1 7RU, United Kingdom
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Arakeri TJ, Hasse BA, Fuglevand AJ. Object discrimination using electrotactile feedback. J Neural Eng 2018; 15:046007. [PMID: 29629874 DOI: 10.1088/1741-2552/aabc9a] [Citation(s) in RCA: 22] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022]
Abstract
OBJECTIVE A variety of bioengineering systems are being developed to restore tactile sensations in individuals who have lost somatosensory feedback because of spinal cord injury, stroke, or amputation. These systems typically detect tactile force with sensors placed on an insensate hand (or prosthetic hand in the case of amputees) and deliver touch information by electrically or mechanically stimulating sensate skin above the site of injury. Successful object manipulation, however, also requires proprioceptive feedback representing the configuration and movements of the hand and digits. APPROACH Therefore, we developed a simple system that simultaneously provides information about tactile grip force and hand aperture using current amplitude-modulated electrotactile feedback. We evaluated the utility of this system by testing the ability of eight healthy human subjects to distinguish among 27 objects of varying sizes, weights, and compliances based entirely on electrotactile feedback. The feedback was modulated by grip-force and hand-aperture sensors placed on the hand of an experimenter (not visible to the subject) grasping and lifting the test objects. We were also interested to determine the degree to which subjects could learn to use such feedback when tested over five consecutive sessions. MAIN RESULTS The average percentage correct identifications on day 1 (28.5% ± 8.2% correct) was well above chance (3.7%) and increased significantly with training to 49.2% ± 10.6% on day 5. Furthermore, this training transferred reasonably well to a set of novel objects. SIGNIFICANCE These results suggest that simple, non-invasive methods can provide useful multisensory feedback that might prove beneficial in improving the control over prosthetic limbs.
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Affiliation(s)
- Tapas J Arakeri
- Department of Physiology, College of Medicine, University of Arizona, Tucson AZ, United states of America
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31
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D'Anna E, Petrini FM, Artoni F, Popovic I, Simanić I, Raspopovic S, Micera S. A somatotopic bidirectional hand prosthesis with transcutaneous electrical nerve stimulation based sensory feedback. Sci Rep 2017; 7:10930. [PMID: 28883640 PMCID: PMC5589952 DOI: 10.1038/s41598-017-11306-w] [Citation(s) in RCA: 90] [Impact Index Per Article: 12.9] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/09/2016] [Accepted: 08/22/2017] [Indexed: 11/11/2022] Open
Abstract
According to amputees, sensory feedback is amongst the most important features lacking from commercial prostheses. Although restoration of touch by means of implantable neural interfaces has been achieved, these approaches require surgical interventions, and their long-term usability still needs to be fully investigated. Here, we developed a non-invasive alternative which maintains some of the advantages of invasive approaches, such as a somatotopic sensory restitution scheme. We used transcutaneous electrical nerve stimulation (TENS) to induce referred sensations to the phantom hand of amputees. These sensations were characterized in four amputees over two weeks. Although the induced sensation was often paresthesia, the location corresponded to parts of the innervation regions of the median and ulnar nerves, and electroencephalographic (EEG) recordings confirmed the presence of appropriate responses in relevant cortical areas. Using these sensations as feedback during bidirectional prosthesis control, the patients were able to perform several functional tasks that would not be possible otherwise, such as applying one of three levels of force on an external sensor. Performance during these tasks was high, suggesting that this approach could be a viable alternative to the more invasive solutions, offering a trade-off between the quality of the sensation, and the invasiveness of the intervention.
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Affiliation(s)
- Edoardo D'Anna
- Bertarelli Foundation Chair in Translational Neuroengineering, Centre for Neuroprosthetics and Institute of Bioengineering, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland
| | - Francesco M Petrini
- Bertarelli Foundation Chair in Translational Neuroengineering, Centre for Neuroprosthetics and Institute of Bioengineering, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland
| | - Fiorenzo Artoni
- Bertarelli Foundation Chair in Translational Neuroengineering, Centre for Neuroprosthetics and Institute of Bioengineering, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland.,The Biorobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Igor Popovic
- Specialized Hospital for rehabilitation and orthopaedic prosthetics, Belgrade, Serbia
| | - Igor Simanić
- Specialized Hospital for rehabilitation and orthopaedic prosthetics, Belgrade, Serbia
| | - Stanisa Raspopovic
- Bertarelli Foundation Chair in Translational Neuroengineering, Centre for Neuroprosthetics and Institute of Bioengineering, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland.
| | - Silvestro Micera
- Bertarelli Foundation Chair in Translational Neuroengineering, Centre for Neuroprosthetics and Institute of Bioengineering, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland. .,The Biorobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy.
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Choi K, Kim P, Kim KS, Kim S. Mixed-Modality Stimulation to Evoke Two Modalities Simultaneously in One Channel for Electrocutaneous Sensory Feedback. IEEE Trans Neural Syst Rehabil Eng 2017; 25:2258-2269. [PMID: 28742043 DOI: 10.1109/tnsre.2017.2730856] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
One of the long-standing challenges in upper limb prosthetics is restoring the sensory feedback that is missing due to amputation. Two approaches have previously been presented to provide various types of sensory information to users, namely, multi-modality sensory feedback and using an array of single-modality stimulators. However, the feedback systems used in these approaches were too bulky to be embedded in prosthesis sockets. In this paper, we propose an electrocutaneous sensory feedback method that is capable of conveying two modalities simultaneously with only one electrode. The stimulation method, which we call mixed-modality stimulation, utilizes the phenomenon in which the superposition of two electric pulse trains of different frequencies is able to evoke two different modalities (i.e., pressure and tapping) at the same time. We conducted psychophysical experiments in which healthy subjects were required to recognize the intensity of pressure or the frequency of tapping from mixed-modality or two-channel stimulations. The results demonstrated that the subjects were able to discriminate the features of the two modalities in one electrode during mixed-modality stimulation and that the accuracies of successful recognitions (mean ± standard deviation) for the two feedback variables were 84.3 ± 7% for mixed-modality stimulation and 89.5 ± 6% for two-channel dual-modality stimulation, showing no statistically significant difference. Therefore, mixed-modality stimulation is an attractive method for modulating two modalities independently with only one electrode, and it could be used for implementing a compact sensory feedback system that is able to provide two different types of sensory information from prosthetics.
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Raveh E, Friedman J, Portnoy S. Visuomotor behaviors and performance in a dual-task paradigm with and without vibrotactile feedback when using a myoelectric controlled hand. Assist Technol 2017. [PMID: 28628379 DOI: 10.1080/10400435.2017.1323809] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/19/2022] Open
Abstract
Prosthesis users allocate visual attention to their prosthetic hand while performing activities of daily living (ADLs), due to absence of sensory feedback. Dual-task assignments present competition for visual attention and may affect the performance of ADLs. Vibrotactile feedback (VTF) is a frequently-used method to provide prosthesis users with tactile feedback. However, the effect of adding VTF on visual attention and performance in a motor dual-task paradigm has not been investigated. Our aim was to compare visual attention and performance during ADLs in a motor dual-task paradigm when using binary VTF and without using VTF. Forty-three able-bodied subjects (age 26 ± 6.6 years) had a myoelectric-controlled hand attached to their right hand. The dual task comprised of a computer game played with the left hand, while manipulating objects with the artificial hand. This was performed with and without VTF in a counter-balanced order of two conditions. An eye-tracker monitored visual attention, while time to complete each task and the time the virtual car went off-road were recorded. No significant differences were found in visual attention or in performance time between the two conditions. Further examination of adding VTF to prosthesis users is recommended, with disrupted visual feedback and basic grasping tasks.
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Affiliation(s)
- Eitan Raveh
- a Occupational Therapy Department, Sackler Faculty of Medicine , Tel Aviv University , Tel Aviv , Israel
| | - Jason Friedman
- b Physical Therapy Department, Sackler Faculty of Medicine , Tel Aviv University , Tel Aviv , Israel
| | - Sigal Portnoy
- a Occupational Therapy Department, Sackler Faculty of Medicine , Tel Aviv University , Tel Aviv , Israel.,c Physical Medicine and Rehabilitation Department , Hadassah Medical Center , Jerusalem , Israel
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Strbac M, Isakovic M, Belic M, Popovic I, Simanic I, Farina D, Keller T, Dosen S. Short- and Long-Term Learning of Feedforward Control of a Myoelectric Prosthesis with Sensory Feedback by Amputees. IEEE Trans Neural Syst Rehabil Eng 2017; 25:2133-2145. [PMID: 28600254 DOI: 10.1109/tnsre.2017.2712287] [Citation(s) in RCA: 42] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Human motor control relies on a combination of feedback and feedforward strategies. The aim of this study was to longitudinally investigate artificial somatosensory feedback and feedforward control in the context of grasping with myoelectric prosthesis. Nine amputee subjects performed routine grasping trials, with the aim to produce four levels of force during four blocks of 60 trials across five days. The electrotactile force feedback was provided in the second and third block using multipad electrode and spatial coding. The first baseline and last validation block (open-loop control) evaluated the effects of long- (across sessions) and short-term (within session) learning, respectively. The outcome measures were the absolute error between the generated and target force, and the number of force saturations. The results demonstrated that the electrotactile feedback improved the performance both within and across sessions. In the validation block, the performance did not significantly decrease and the quality of open-loop control (baseline) improved across days, converging to the performance characterizing closed-loop control. This paper provides important insights into the feedback and feedforward processes in prosthesis control, contributing to the better understanding of the role and design of feedback in prosthetic systems.
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35
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Chai G, Zhang D, Zhu X. Developing Non-Somatotopic Phantom Finger Sensation to Comparable Levels of Somatotopic Sensation through User Training With Electrotactile Stimulation. IEEE Trans Neural Syst Rehabil Eng 2017; 25:469-480. [DOI: 10.1109/tnsre.2016.2580905] [Citation(s) in RCA: 32] [Impact Index Per Article: 4.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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36
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Patel GK, Dosen S, Castellini C, Farina D. Multichannel electrotactile feedback for simultaneous and proportional myoelectric control. J Neural Eng 2016; 13:056015. [DOI: 10.1088/1741-2560/13/5/056015] [Citation(s) in RCA: 31] [Impact Index Per Article: 3.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022]
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37
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Brown JD, Shelley MK, Gardner D, Gansallo EA, Gillespie RB. Non-Colocated Kinesthetic Display Limits Compliance Discrimination in the Absence of Terminal Force Cues. IEEE TRANSACTIONS ON HAPTICS 2016; 9:387-396. [PMID: 27101616 DOI: 10.1109/toh.2016.2554120] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/05/2023]
Abstract
An important goal of haptic display is to make available the action/reaction relationships that define interactions between the body and the physical world. While in physical world interactions reaction cues invariably impinge on the same part of the body involved in action (reaction and action are colocated), a haptic interface is quite capable of rendering feedback to a separate body part than that used for producing exploratory actions (non-colocated action and reaction). This most commonly occurs with the use of vibrotactile display, in which a cutaneous cue has been substituted for a kinesthetic cue (a kind of sensory substitution). In this paper, we investigate whether non-colocated force and displacement cues degrade the perception of compliance. Using a custom non-colocated kinesthetic display in which one hand controls displacement and the other senses force, we ask participants to discriminate between two virtual springs with matched terminal force and adjustable non-linearity. An additional condition includes one hand controlling displacement while the other senses force encoded in a vibrotactile cue. Results show that when the terminal force cue is unavailable, and even when sensory substitution is not involved, non-colocated kinesthetic displays degrade compliance discrimination relative to colocated kinesthetic displays. Compliance discrimination is also degraded with vibrotactile display of force. These findings suggest that non-colocated kinesthetic displays and, likewise, cutaneous sensory substitution displays should be avoided when discrimination of compliance is necessary for task success.
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38
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Brown JD, Kunz TS, Gardner D, Shelley MK, Davis AJ, Gillespie RB. An Empirical Evaluation of Force Feedback in Body-Powered Prostheses. IEEE Trans Neural Syst Rehabil Eng 2016; 25:215-226. [PMID: 27101614 DOI: 10.1109/tnsre.2016.2554061] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
Myoelectric prostheses have many advantages over body-powered prostheses, yet the absence of sensory feedback in myoelectric devices is one reason body-powered devices are often preferred by amputees. While considerable progress has been made in the mechanical design and control of myoelectric prostheses, research on haptic feedback has not had a similar impact. In this study, we seek to develop a fundamental understanding of the utility of force feedback and vision in the functional operation of a body-powered upper-limb prosthesis. Using a custom body-powered prosthesis in which force feedback can be conditionally removed, we asked N=10 non-amputee participants to identify objects based on stiffness in four separate conditions with and without visual and/or force feedback. Results indicate that the combination of visual and force feedback allows for the best accuracy, followed by force feedback only, then visual feedback only. In addition, combining force feedback with visual feedback does not significantly affect identification timing compared to visual feedback alone. These findings suggest that consideration should be given to the development of force feedback displays for myoelectric prostheses that function like a Bowden cable, coupling the amputee's control input to the resulting feedback.
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Brown JD, Paek A, Syed M, O'Malley MK, Shewokis PA, Contreras-Vidal JL, Davis AJ, Gillespie RB. An exploration of grip force regulation with a low-impedance myoelectric prosthesis featuring referred haptic feedback. J Neuroeng Rehabil 2015; 12:104. [PMID: 26602538 PMCID: PMC4659194 DOI: 10.1186/s12984-015-0098-1] [Citation(s) in RCA: 27] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/19/2015] [Accepted: 11/16/2015] [Indexed: 11/17/2022] Open
Abstract
Background Haptic display technologies are well suited to relay proprioceptive, force, and contact cues from a prosthetic terminal device back to the residual limb and thereby reduce reliance on visual feedback. The ease with which an amputee interprets these haptic cues, however, likely depends on whether their dynamic signal behavior corresponds to expected behaviors—behaviors consonant with a natural limb coupled to the environment. A highly geared motor in a terminal device along with the associated high back-drive impedance influences dynamic interactions with the environment, creating effects not encountered with a natural limb. Here we explore grasp and lift performance with a backdrivable (low backdrive impedance) terminal device placed under proportional myoelectric position control that features referred haptic feedback. Methods We fabricated a back-drivable terminal device that could be used by amputees and non-amputees alike and drove aperture (or grip force, when a stiff object was in its grasp) in proportion to a myoelectric signal drawn from a single muscle site in the forearm. In randomly ordered trials, we assessed the performance of N=10 participants (7 non-amputee, 3 amputee) attempting to grasp and lift an object using the terminal device under three feedback conditions (no feedback, vibrotactile feedback, and joint torque feedback), and two object weights that were indiscernible by vision. Results Both non-amputee and amputee participants scaled their grip force according to the object weight. Our results showed only minor differences in grip force, grip/load force coordination, and slip as a function of sensory feedback condition, though the grip force at the point of lift-off for the heavier object was significantly greater for amputee participants in the presence of joint torque feedback. An examination of grip/load force phase plots revealed that our amputee participants used larger safety margins and demonstrated less coordination than our non-amputee participants. Conclusions Our results suggest that a backdrivable terminal device may hold advantages over non-backdrivable devices by allowing grip/load force coordination consistent with behaviors observed in the natural limb. Likewise, the inconclusive effect of referred haptic feedback on grasp and lift performance suggests the need for additional testing that includes adequate training for participants.
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Affiliation(s)
- Jeremy D Brown
- Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA. .,Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA.
| | - Andrew Paek
- Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA.
| | - Mashaal Syed
- School of Biomedical Engineering, Science and Health Systems (BIOMED), Drexel University, Philadelphia, PA, USA.
| | - Marcia K O'Malley
- Department of Mechanical Engineering, Rice University, Houston, TX, USA.
| | - Patricia A Shewokis
- School of Biomedical Engineering, Science and Health Systems (BIOMED), Drexel University, Philadelphia, PA, USA. .,Nutrition Sciences Department, College of Nursing and Health Professions, Drexel University, Philadelphia, PA, USA. .,Department of Surgery, Drexel University College of Medicine, Philadelphia, PA, USA.
| | - Jose L Contreras-Vidal
- Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA.
| | - Alicia J Davis
- UM Orthotics and Prosthetics Center, University of Michigan, Ann Arbor, MI, USA.
| | - R Brent Gillespie
- Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA.
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Clemente F, D'Alonzo M, Controzzi M, Edin BB, Cipriani C. Non-Invasive, Temporally Discrete Feedback of Object Contact and Release Improves Grasp Control of Closed-Loop Myoelectric Transradial Prostheses. IEEE Trans Neural Syst Rehabil Eng 2015; 24:1314-1322. [PMID: 26584497 DOI: 10.1109/tnsre.2015.2500586] [Citation(s) in RCA: 104] [Impact Index Per Article: 11.6] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
Human grasping and manipulation control critically depends on tactile feedback. Without this feedback, the ability for fine control of a prosthesis is limited in upper limb amputees. Although various approaches have been investigated in the past, at present there is no commercially available device able to restore tactile feedback in upper limb amputees. Based on the Discrete Event-driven Sensory feedback Control (DESC) policy we present a device able to deliver short-lasting vibrotactile feedback to transradial amputees using commercially available myoelectric hands. The device (DESC-glove) comprises sensorized thimbles to be placed on the prosthesis digits, a battery-powered electronic board, and vibrating units embedded in an arm-cuff being transiently activated when the prosthesis makes and breaks contact with objects. The consequences of using the DESC-glove were evaluated in a longitudinal study. Five transradial amputees were equipped with the device for one month at home. Through a simple test proposed here for the first time-the virtual eggs test-we demonstrate the effectiveness of the device for prosthetic control in daily life conditions. In the future the device could be easily exploited as an add-on to complement myoelectric prostheses or even embedded in prosthetic sockets to enhance their control by upper limb amputees.
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Xu H, Zhang D, Huegel JC, Xu W, Zhu X. Effects of Different Tactile Feedback on Myoelectric Closed-Loop Control for Grasping Based on Electrotactile Stimulation. IEEE Trans Neural Syst Rehabil Eng 2015; 24:827-36. [PMID: 26372430 DOI: 10.1109/tnsre.2015.2478153] [Citation(s) in RCA: 33] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
Closed-loop control is important for amputees to manipulate myoelectric prostheses intuitively and dexterously. Tactile feedback can help amputees improve myoelectric control performance for grasping objects. To investigate the effects of different tactile feedback, we performed experiments on six amputees and six able-bodied subjects via electrotactile stimulation. Using a virtual environment, six kinds of objects with different weights and stiffnesses were used for grasping tasks. Five feedback conditions (no feedback, pressure feedback, slip feedback, pressure + slip feedback, and vision feedback) were considered. Nine evaluation indexes and three control objectives (rapidity, economy, and stability) were proposed. Under the five feedback conditions, our study investigated four issues: 1) three types of grasping-related failures; 2) four types of grasping-related time measures; 3) average grasping force; 4) standard deviation of the grasping force. Results indicate that: 1) slip feedback is better than pressure feedback; 2) pressure + slip feedback can improve grasping rapidity; 3) slip feedback significantly contributes to grasping economy and stability; and 4) pressure + slip feedback can perform as well as vision feedback.
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Zhang D, Xu H, Shull PB, Liu J, Zhu X. Somatotopical feedback versus non-somatotopical feedback for phantom digit sensation on amputees using electrotactile stimulation. J Neuroeng Rehabil 2015; 12:44. [PMID: 25929589 PMCID: PMC4416276 DOI: 10.1186/s12984-015-0037-1] [Citation(s) in RCA: 36] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/29/2014] [Accepted: 04/17/2015] [Indexed: 11/10/2022] Open
Abstract
Background Transcutaneous electrical stimulation can provide amputees with tactile feedback for better manipulating an advanced prosthesis. In general, there are two ways to transfer the stimulus to the skin: somatotopical feedback (SF) that stimulates the phantom digit somatotopy on the stump and non-somatotopical feedback (NF) that stimulates other positions on the human body. Methods To investigate the difference between SF and NF, electrotactile experiments were conducted on seven amputees. Electrical stimulation was applied via a complete phantom map to the residual limb (SF) and to the upper arm (NF) separately. The behavior results of discrimination accuracy and response time were used to examine: 1) performance differences between SF and NF for discriminating position, type and strength of tactile feedback; 2) performance differences between SF and NF for one channel (1C), three channels (3C), and five channels (5C). NASA-TLX standardized testing was used to determine differences in mental workload between SF and NF. Results The grand-averaged discrimination accuracy for SF was 6% higher than NF, and the average response time for SF was 600 ms faster than NF. SF is better than NF for position, type, strength, and the overall modality regarding both accuracy and response time except for 1C modality (p<0.001). Among the six modalities of stimulation channels, performance of 1C/SF was the best, which was similar to that of 1C/NF and 3C/SF; performance of 3C/NF was similar to that of 5C/SF; performance of 5C/NF was the worst. NASA-TLX scores indicated that mental workload increased as the number of stimulation channels increased. Conclusions We quantified the difference between SF and NF, and the influence of different number of stimulation channels. SF was better than NF in general, but the practical issues such as the limited area of stumps could constrain the use of SF. We found that more channels increased the amount and richness of information to the amputee while fewer channels resulted in higher performance, and thus the 3C/SF modality was a good compromise. Based on this study, we provide possible solutions to the practical problems involving the implementation of tactile feedback for amputees. These results are expected to promote the application of SF and NF tactile feedback for amputees in the future.
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Affiliation(s)
- Dingguo Zhang
- State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, School of Mechanical Engineering at Shanghai Jiao Tong University, Shanghai, China.
| | - Heng Xu
- State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, School of Mechanical Engineering at Shanghai Jiao Tong University, Shanghai, China.
| | - Peter B Shull
- State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, School of Mechanical Engineering at Shanghai Jiao Tong University, Shanghai, China.
| | - Jianrong Liu
- Department of Neurology, Ruijin Hospital, Shanghai Jiao Tong University, School of Medicine, Shanghai, China.
| | - Xiangyang Zhu
- State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, School of Mechanical Engineering at Shanghai Jiao Tong University, Shanghai, China.
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Pistohl T, Joshi D, Ganesh G, Jackson A, Nazarpour K. Artificial proprioceptive feedback for myoelectric control. IEEE Trans Neural Syst Rehabil Eng 2014; 23:498-507. [PMID: 25216484 PMCID: PMC7610977 DOI: 10.1109/tnsre.2014.2355856] [Citation(s) in RCA: 43] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
The typical control of myoelectric interfaces, whether in laboratory settings or real-life prosthetic applications, largely relies on visual feedback because proprioceptive signals from the controlling muscles are either not available or very noisy. We conducted a set of experiments to test whether artificial proprioceptive feedback, delivered non-invasively to another limb, can improve control of a two-dimensional myoelectrically-controlled computer interface. In these experiments, participants’ were required to reach a target with a visual cursor that was controlled by electromyogram signals recorded from muscles of the left hand, while they were provided with an additional proprioceptive feedback on their right arm by moving it with a robotic manipulandum. Provision of additional artificial proprioceptive feedback improved the angular accuracy of their movements when compared to using visual feedback alone but did not increase the overall accuracy quantified with the average distance between the cursor and the target. The advantages conferred by proprioception were present only when the proprioceptive feedback had similar orientation to the visual feedback in the task space and not when it was mirrored, demonstrating the importance of congruency in feedback modalities for multi-sensory integration. Our results reveal the ability of the human motor system to learn new inter-limb sensory-motor associations; the motor system can utilize task-related sensory feedback, even when it is available on a limb distinct from the one being actuated. In addition, the proposed task structure provides a flexible test paradigm by which the effectiveness of various sensory feedback and multi-sensory integration for myoelectric prosthesis control can be evaluated.
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Affiliation(s)
- Tobias Pistohl
- Institute of Neuroscience, Newcastle University, UK. He is now with Bernstein Center Freiburg, University of Freiburg
| | - Deepak Joshi
- Department of Electrical and Electronics Engineering, Graphic Era University, Dehradun - 248002, India
| | - Gowrishankar Ganesh
- CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/CRT, Intelligent Systems Research Institute, Tsukuba, Japan-305-8568 and the Centre for Information and Neural Networks (CINET-NICT), Osaka, Japan-5650871
| | - Andrew Jackson
- Institute of Neuroscience, Newcastle University, Newcastle upon Tyne, NE2 4HH, UK
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