Object Shape and Surface Topology Recognition Using Tactile Feedback Evoked through Transcutaneous Nerve Stimulation

Assessment of TENS-Evoked Tactile Sensations for Transradial Amputees via EEG Investigation

Most of current prostheses can offer motor function restoration for limb amputees but usually lack natural and intuitive sensory feedback. Many studies have demonstrated that Transcutaneous Electrical Nerve Stimulation (TENS) is promising in non-invasive sensation evoking for amputees. However, the objective evaluation and mechanism analysis on sensation feedback are still limited. This work utilized multi-channel TENS with diverse stimulus patterns to evoke sensations on four non-disabled subjects and two transradial amputees. Meanwhile, electroencephalogram (EEG) was collected to objectively assess the evoked sensations, where event-related potentials (ERPs), brain electrical activity maps (BEAMs), and functional connectivity (FC) were computed. The results show that various sensations could be successfully evoked for both amputees and non-disabled subjects by customizing stimulus parameters. The ERP confirmed the sensation and revealed the sensory-processing-related components like N100 and P200; the BEAMs confirmed the corresponding regions of somatosensory cortex were activated by stimulation; the FC indicated an increase of interactions between the regions of sensorimotor cortex. This study may shed light on how the brain responds to external stimulation as sensory feedback and serve as a pilot for further bidirectional closed-loop prosthetic control.

Unsupervised separation of nonlinearly mixed event-related potentials using manifold clustering and non-negative matrix factorization

Event-related potentials (ERPs) can quantify brain responses to reveal the neural mechanisms of sensory perception. However, ERPs often reflect nonlinear mixture responses to multiple sources of sensory stimuli, and an accurate separation of the response to each stimulus remains a challenge. This study aimed to separate the ERP into nonlinearly mixed source components specific to individual stimuli. We developed an unsupervised learning method based on clustering of manifold structures of mixture signals combined with channel optimization for signal source reconstruction using non-negative matrix factorization (NMF). Specifically, we first implemented manifold learning based on Local Tangent Space Alignment (LTSA) to extract the spatial manifold structure of multi-resolution sub-signals separated via wavelet packet transform. We then used fuzzy entropy to extract the dynamical process of the manifold structures and performed a k-means clustering to separate different sources. Lastly, we used NMF to obtain the optimal contributions of multiple channels to ensure accurate source reconstructions. We evaluated our developed approach using a simulated ERP dataset with known ground truth of two components of ERP mixture signals. Our results show that the correlation coefficient between the reconstructed source signal and the true source signal was 92.8 % and that the separation accuracy in ERP amplitude was 91.6 %. The results show that our unsupervised separation approach can accurately separate ERP signals from nonlinear mixture source components. The outcomes provide a promising way to isolate brain responses to multiple stimulus sources during multisensory perception.

Selective intrafascicular stimulation of myelinated and unmyelinated nerve fibers through a longitudinal electrode: A computational study

Carbon nanotube (CNT) fiber electrodes have demonstrated exceptional spatial selectivity and sustained reliability in the context of intrafascicular electrical stimulation, as evidenced through rigorous animal experimentation. A significant presence of unmyelinated C fibers, known to induce uncomfortable somatosensory experiences, exists within peripheral nerves. This presence poses a considerable challenge to the excitation of myelinated Aβ fibers, which are crucial for tactile sensation. To achieve nuanced tactile sensory feedback utilizing CNT fiber electrodes, the selective stimulation of Aβ sensory afferents emerges as a critical factor. In confronting this challenge, the present investigation sought to refine and apply a rat sciatic-nerve model leveraging the capabilities of the COMSOL-NEURON framework. This approach enables a systematic evaluation of the influence exerted by stimulation parameters and electrode geometry on the activation dynamics of both myelinated Aβ and unmyelinated C fibers. The findings advocate for the utilization of current pulses featuring a pulse width of 600 μs, alongside the deployment of CNT fibers characterized by a diminutive diameter of 10 μm, with an exclusively exposed cross-sectional area, to facilitate reduced activation current thresholds. Comparative analysis under monopolar and bipolar electrical stimulation conditions revealed proximate activation thresholds, albeit with bipolar stimulation exhibiting superior fiber selectivity relative to its monopolar counterpart. Concerning pulse waveform characteristics, the adoption of an anodic-first biphasic stimulation modality is favored, taking into account the dual criteria of activation threshold and fiber selectivity optimization. Consequently, this investigation furnishes an efficacious stimulation paradigm for the selective activation of touch-related nerve fibers, alongside provisioning a comprehensive theoretical foundation for the realization of natural tactile feedback within the domain of prosthetic hand applications.

Distally-referred surface electrical nerve stimulation (DR-SENS) for haptic feedback

Objective.This study's objective is to understand distally-referred surface electrical nerve stimulation (DR-SENS) and evaluates the effects of electrode placement, polarity, and stimulation intensity on the location of elicited sensations in non-disabled individuals.Approach.A two-phased human experiment was used to characterize DR-SENS. In Experiment One, we explored 182 electrode combinations to identify a subset of electrode position combinations that would be most likely to elicit distally-referred sensations isolated to the index finger without discomfort. In Experiment Two, we further examined this subset of electrode combinations to determine the effect of stimulation intensity and electrode position on perceived sensation location. Stimulation thresholds were evaluated using parameter estimation by sequential testing and sensation locations were characterized using psychometric intensity tests.Main Results.We found that electrode positions distal to the wrist can consistently evoke distally referred sensations with no significant polarity dependency. The finger-palm combination had the most occurrences of distal sensations, and the different variations of this combination did not have a significant effect on sensation location. Increasing stimulation intensity significantly expanded the area of the sensation, moved the most distal sensation distally, and moved the vertical centroid proximally. Also, a large anodic-leading electrode at the elbow mitigated all sensation at the anodic-leading electrode site while using symmetric stimulation waveforms. Furthermore, this study showed that the most intense sensation for a given percept can be distally referred. Lastly, for each participant, at least one of the finger-palm combinations evaluated in this study worked at both perception threshold and maximum comfortable stimulation intensities.Significance.These findings show that a non-invasive surface electrical stimulation charge modulated haptic interface can be used to elicit distally-referred sensations on non-disabled users. Furthermore, these results inform the design of novel haptic interfaces and other applications of surface electrical stimulation based haptic feedback on electrodes positioned distally from the wrist.

Eliciting tactile sensations in the hand through non-invasive proximal nerve stimulation: a feasibility study

Recently, non-invasive proximal nerve stimulation has been widely investigated to restore tactile sensations. It has been demonstrated that tactile sensations in the hand could be elicited by nerve stimulation on the upper arm. However, it is still unknown whether tactile sensations could be elicited by stimulation at a proximal location close to the neck. In this study, non-invasive proximal nerve stimulation tests were performed to elicit tactile sensations in the hand of subjects. Six Ag/AgCl gel electrodes (2 × 3) were placed on the supraclavicular fossa where the proximal parts of the brachial plexus nerves were located. Then, fifteen potential electrode pairs were tested to explore whether tactile sensations could be elicited by non-invasive proximal nerve stimulation. Eight able-bodied subjects (male) were recruited to participate in the test. The stimulated sensation regions in the hand and the sensory intensity were reported and recorded during the experiment. The results demonstrated that the tactile sensations in various regions in the hand could be elicited through non-invasive nerve stimulation at the proximal location close to the neck.

Remote targeted electrical stimulation

Objective:The ability to generate electric fields in specific targets remotely would transform manipulations of processes that rest on electrical signaling.Approach:This article shows that focal electric fields are generated from distance by combining two orthogonal, remotely applied energies-magnetic and focused ultrasonic fields. The effect derives from the Lorentz force equation applied to magnetic and ultrasonic fields.Main results:We elicited this effect using standard hardware and confirmed that the generated electric fields align with the Lorentz equation. The effect significantly and safely modulated human peripheral nerves and deep brain regions of non-human primates.Significance:This approach opens a new set of applications in which electric fields are generated at high spatiotemporal resolution within intact biological tissues or materials, thus circumventing the limitations of traditional electrode-based procedures.

Restoration of sensory information via bionic hands

Individuals who have lost the use of their hands because of amputation or spinal cord injury can use prosthetic hands to restore their independence. A dexterous prosthesis requires the acquisition of control signals that drive the movements of the robotic hand, and the transmission of sensory signals to convey information to the user about the consequences of these movements. In this Review, we describe non-invasive and invasive technologies for conveying artificial sensory feedback through bionic hands, and evaluate the technologies' long-term prospects.

Bio-robotics research for non-invasive myoelectric neural interfaces for upper-limb prosthetic control: a 10-year perspective review

A decade ago, a group of researchers from academia and industry identified a dichotomy between the industrial and academic state-of-the-art in upper-limb prosthesis control, a widely used bio-robotics application. They proposed that four key technical challenges, if addressed, could bridge this gap and translate academic research into clinically and commercially viable products. These challenges are unintuitive control schemes, lack of sensory feedback, poor robustness and single sensor modality. Here, we provide a perspective review on the research effort that occurred in the last decade, aiming at addressing these challenges. In addition, we discuss three research areas essential to the recent development in upper-limb prosthetic control research but were not envisioned in the review 10 years ago: deep learning methods, surface electromyogram decomposition and open-source databases. To conclude the review, we provide an outlook into the near future of the research and development in upper-limb prosthetic control and beyond.

Electrotactile feedback improves grip force control and enables object stiffness recognition while using a myoelectric hand

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.

Touch, Texture and Haptic Feedback: A Review on How We Feel the World around Us

Touch is one most of the important aspects of human life. Nearly all interactions, when broken down, involve touch in one form or another. Recent advances in technology, particularly in the field of virtual reality, have led to increasing interest in the research of haptics. However, accurately capturing touch is still one of most difficult engineering challenges currently being faced. Recent advances in technology such as those found in microcontrollers which allow the creation of smaller sensors and feedback devices may provide the solution. Beyond capturing and measuring touch, replicating touch is also another unique challenge due to the complexity and sensitivity of the human skin. The development of flexible, soft-wearable devices, however, has allowed for the creating of feedback systems that conform to the human form factor with minimal loss of accuracy, thus presenting possible solutions and opportunities. Thus, in this review, the researchers aim to showcase the technologies currently being used in haptic feedback, and their strengths and limitations.

Evaluation of multiple perceptual qualities of transcutaneous electrical nerve stimulation for evoked tactile sensation in forearm amputees

OBJECTIVE

Evoked tactile sensation (ETS) elicited by transcutaneous electrical nerve stimulation (TENS) is promising to convey digit-specific sensory information to amputees naturally and non-invasively. Fitting ETS-based sensory feedback to amputees entails customizing coding of multiple sensory information for each stimulation site. This study was to elucidate the consistency of percepts and qualities by TENS at multiple stimulation sites in amputees retaining ETS.

APPROACH

Five transradial amputees with ETS and fourteen able-bodied subjects participated in this study. Surface electrodes with small size (10 mm in diameter) were adopted to fit the restricted projected finger map on the forearm stump of amputees. Effects of stimulus frequency on sensory types were assessed, and the map of perceptual threshold for each sensation was characterized. Sensitivity for vibration and buzz sensations was measured using distinguishable difference in stimulus pulse width. Rapid assessments for modulation ranges of pulse width at fixed amplitude and frequency were developed for coding sensory information. Buzz sensation was demonstrated for location discrimination relating to prosthetic fingers.

MAIN RESULTS

Vibration and buzz sensations were consistently evoked at 20 Hz and 50 Hz as dominant sensation types in all amputees and able-bodied subjects. Perceptual thresholds of different sensations followed a similar strength-duration curve relating stimulus amplitude to pulse width. The averaged distinguishable difference in pulse width was 12.84 ± 7.23 μs for vibration and 15.21 ± 6.47 μs for buzz in able-bodied subjects, and 14.91 ± 10.54 μs for vibration and 11.30 ± 3.42 μs for buzz in amputees. Buzz coding strategy enabled five amputees to discriminate contact of individual fingers with an overall accuracy of 77.85%.

SIGNIFICANCE

The consistency in perceptual qualities of dominant sensations can be exploited for coding multi-modality sensory feedback. A fast protocol of sensory coding is possible for fitting ETS-based, non-invasive sensory feedback to amputees.

Effect of neuromorphic transcutaneous electrical nerve stimulation (nTENS) of cortical functional networks on tactile perceptions: An event-related electroencephalogram study

BACKGROUND

Transcutaneous electrical nerve stimulation (TENS) is generally applied for tactile feedback in the field of prosthetics. The distinct mechanisms of evoked tactile perception between stimulus patterns in conventional TENS (cTENS) and neuromorphic TENS (nTENS) are relatively unknown. This is the first study to investigate the neurobiological effect of nTENS for cortical functional mechanism in evoked tactile perception.

METHODS

Twenty-one healthy participants were recruited in this study. Electroencephalogram (EEG) was recorded while the participants underwent a tactile discrimination task. One cTENS pattern (square pattern) and two nTENS patterns (electromyography and single motor unit patterns) were applied to evoke tactile perception in four fingers, including the right and left index and little fingers. EEG was preprocessed and somatosensory-evoked potentials (SEPs) were determined. Then, source-level functional networks based on graph theory were evaluated, including clustering coefficient, path length, global efficiency, and local efficiency in six frequency bands.

RESULTS

Behavioral results suggested that the single motor units (SMU) pattern of nTENS was the most natural tactile perception. SEPs results revealed that SMU pattern exhibited significant shorter latency in P1 and N1 components than the other patterns, while nTENS patterns have significantly longer latency in P3 component than cTENS pattern. Cortical functional networks showed that the SMU pattern had the lowest short path and highest efficiency in beta and gamma bands.

CONCLUSION

This study highlighted that distinct TENS patterns could affect brain activities. The new characteristics in tactile manifestation of nTENS would provide insights for the application of tactile perception restoration.

Object Recognition via Evoked Sensory Feedback during Control of a Prosthetic Hand

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.

Closed-loop control of a prosthetic finger via evoked proprioceptive information

Objective.Proprioceptive information plays an important role for recognizing and coordinating our limb's static and dynamic states relative to our body or the environment. In this study, we determined how artificially evoked proprioceptive feedback affected the continuous control of a prosthetic finger.Approach.We elicited proprioceptive information regarding the joint static position and dynamic movement of a prosthetic finger via a vibrotactor array placed around the subject's upper arm. Myoelectric signals of the finger flexor and extensor muscles were used to control the prosthesis, with or without the evoked proprioceptive feedback. Two control modes were evaluated: the myoelectric signal amplitudes were continuously mapped to either the position or the velocity of the prosthetic joint.Main results.Our results showed that the evoked proprioceptive information improved the control accuracy of the joint angle, with comparable performance in the position- and velocity-control conditions. However, greater angle variability was prominent during position-control than velocity-control. Without the proprioceptive feedback, the position-control tended to show a smaller angle error than the velocity-control condition.Significance.Our findings suggest that closed-loop control of a prosthetic device can potentially be achieved using non-invasive evoked proprioceptive feedback delivered to intact participants. Moreover, the evoked sensory information was integrated during myoelectric control effectively for both control strategies. The outcomes can facilitate our understanding of the sensorimotor integration process during human-machine interactions, which can potentially promote fine control of prosthetic hands.

Modulation of sensation intensity in the lower limb via Transcutaneous Electrical Nerve Stimulation

Commercially available lower limb prostheses do not restore sensory feedback in amputees. Literature suggests that Transcutaneous Electrical Nerve Stimulation (TENS) is a valid non-invasive, somatotopic technique to elicit tactile sensations, but no studies have been performed to investigate the capability of discriminating stimulus intensity via TENS in the foot. The aim of the study is to investigate how TENS can be used in order to restore sensations in the lower limb with different levels of intensity. Two experimental protocols were developed and tested on 8 healthy subjects: Mapping protocol is addressed to a fully characterization of the evoked tactile sensations; the Stimulus Intensity Discrimination one aims at investigating the best stimulation parameter to modulate for allowing the recognition of different levels of intensity. The results showed how elicited sensations were mostly described as an almost natural and superficial. A variation of the referred sensation (from nothing to vibration) and its intensity (ρ=0.6431) occurred when a higher quantity of charge was injected. Among the three modulated stimulation parameters, Pulse Amplitude (PA) has the best performance in terms of success rate (90%) and has a statistically significant difference with Pulse Frequency (PF) (PPA-PF = 0.0073<0.016). In the future, PA modulation will be tested on a larger number of healthy subjects and on amputees.

Static and dynamic proprioceptive recognition through vibrotactile stimulation

Objective.Proprioceptive information provides individuals with a sense of our limb's static position and dynamic movement. Impaired or a lack of such feedback can diminish our ability to perform dexterous motions with our biological limbs or assistive devices. Here we seek to determine whether both static and dynamic components of proprioception can be recognized using variation of the spatial and temporal components of vibrotactile feedback.Approach.An array of five vibrotactors was placed on the forearm of each subject. Each tactor was encoded to represent one of the five forearm postures. Vibratory stimulus was elicited to convey the static position and movement of the forearm. Four experimental blocks were performed to test each subject's recognition of a forearm's simulated static position, rotational amplitude, rotational amplitude and direction, and rotational speed.Main results.Our results showed that the subjects were able to perform proprioceptive recognition based on the delivered vibrotactile information. Specifically, rotational amplitude recognition resulted in the highest level of accuracy (99.0%), while the recognition accuracy of the static position and the rotational amplitude-direction was the lowest (91.7% and 90.8%, respectively). Nevertheless, all proprioceptive properties were perceived with >90% accuracy, indicating that the implemented vibrotactile encoding scheme could effectively provide proprioceptive information to the users.Significance.The outcomes suggest that information pertaining to static and dynamic aspects of proprioception can be accurately delivered using an array of vibrotactors. This feedback approach could be used to potentially evaluate the sensorimotor integration processes during human-machine interactions, and to improve sensory feedback in clinical populations with somatosensory impairments.

Electrotactile Feedback for the Discrimination of Different Surface Textures Using a Microphone

Most commercial prosthetic hands lack closed-loop feedback, thus, a lot of research has been focusing on implementing sensory feedback systems to provide the user with sensory information during activities of daily living. This study evaluates the possibilities of using a microphone and electrotactile feedback to identify different textures. A condenser microphone was used as a sensor to detect the friction sound generated from the contact between different textures and the microphone. The generated signal was processed to provide a characteristic electrical stimulation presented to the participants. The main goal of the processing was to derive a continuous and intuitive transfer function between the microphone signal and stimulation frequency. Twelve able-bodied volunteers participated in the study, in which they were asked to identify the stroked texture (among four used in this study: Felt, sponge, silicone rubber, and string mesh) using only electrotactile feedback. The experiments were done in three phases: (1) Training, (2) with-feedback, (3) without-feedback. Each texture was stroked 20 times each during all three phases. The results show that the participants were able to differentiate between different textures, with a median accuracy of 85%, by using only electrotactile feedback with the stimulation frequency being the only variable parameter.

Stiffness Perception using Transcutaneous Electrical Stimulation during Active and Passive Prosthetic Control

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.

Evoking haptic sensations in the foot through high-density transcutaneous electrical nerve stimulations

OBJECTIVE

Evoking haptic sensation on upper limb amputees via peripheral nerve stimulation has been investigated intensively in the past decade, but related studies involving lower limb amputees are limited. This study aimed to evaluate the feasibility of using non-invasive transcutaneous electrical nerve stimulation to evoke haptic sensation along the phantom limb of the amputated foot of transtibial amputees.

APPROACH

A high-density electrode grid (4 × 4) was placed over the skin surface above the distal branching of the sciatic, tibial, and common peroneal nerves. We hypothesized that electrical stimulation delivered to distinct electrode pairs created unique electric fields, which can activate selective sets of sensory axons innervating different skin regions of the foot. Five transtibial amputee subjects (three unilateral and two bilateral) and one able-bodied subject were tested by scanning all possible electrode pair combinations.

MAIN RESULTS

All subjects reported various haptic percepts at distinct regions along the foot with each corresponding to specific electrode pairs. These results demonstrated the capability of our non-invasive nerve stimulation method to evoke haptic sensations in the foot of transtibial amputees and the able-bodied subject.

SIGNIFICANCE

The outcomes contribute important knowledge and evidence regarding missing tactile sensation in the foot of lower limb amputees and might also facilitate future development of strategies to manage phantom pain and enhance embodiment of prosthetic legs in the future.