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Lambrecht JM, Cady SR, Peterson EJ, Dunning JL, Dinsmoor DA, Pape F, Graczyk EL, Tyler DJ. A distributed, high-channel-count, implanted bidirectional system for restoration of somatosensation and myoelectric control. J Neural Eng 2024; 21:036049. [PMID: 38861967 DOI: 10.1088/1741-2552/ad56c9] [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: 01/31/2024] [Accepted: 06/11/2024] [Indexed: 06/13/2024]
Abstract
Objective. We intend to chronically restore somatosensation and provide high-fidelity myoelectric control for those with limb loss via a novel, distributed, high-channel-count, implanted system.Approach.We have developed the implanted Somatosensory Electrical Neurostimulation and Sensing (iSens®) system to support peripheral nerve stimulation through up to 64, 96, or 128 electrode contacts with myoelectric recording from 16, 8, or 0 bipolar sites, respectively. The rechargeable central device has Bluetooth® wireless telemetry to communicate to external devices and wired connections for up to four implanted satellite stimulation or recording devices. We characterized the stimulation, recording, battery runtime, and wireless performance and completed safety testing to support its use in human trials.Results.The stimulator operates as expected across a range of parameters and can schedule multiple asynchronous, interleaved pulse trains subject to total charge delivery limits. Recorded signals in saline show negligible stimulus artifact when 10 cm from a 1 mA stimulating source. The wireless telemetry range exceeds 1 m (direction and orientation dependent) in a saline torso phantom. The bandwidth supports 100 Hz bidirectional update rates of stimulation commands and data features or streaming select full bandwidth myoelectric signals. Preliminary first-in-human data validates the bench testing result.Significance.We developed, tested, and clinically implemented an advanced, modular, fully implanted peripheral stimulation and sensing system for somatosensory restoration and myoelectric control. The modularity in electrode type and number, including distributed sensing and stimulation, supports a wide variety of applications; iSens® is a flexible platform to bring peripheral neuromodulation applications to clinical reality. ClinicalTrials.gov ID NCT04430218.
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Affiliation(s)
- Joris M Lambrecht
- Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, United States of America
- Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH, United States of America
| | - Sedona R Cady
- Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, United States of America
- Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH, United States of America
| | | | - Jeremy L Dunning
- Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH, United States of America
| | | | - Forrest Pape
- Medtronic plc, Minneapolis, MN, United States of America
| | - Emily L Graczyk
- Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, United States of America
- Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH, United States of America
| | - Dustin J Tyler
- Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, United States of America
- Louis Stokes Cleveland Department of Veterans Affairs Medical Center, Cleveland, OH, United States of America
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2
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Tully TN, Thomson CJ, Clark GA, George JA. Validity and Impact of Methods for Collecting Training Data for Myoelectric Prosthetic Control Algorithms. IEEE Trans Neural Syst Rehabil Eng 2024; 32:1974-1983. [PMID: 38739519 PMCID: PMC11197051 DOI: 10.1109/tnsre.2024.3400729] [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] [Indexed: 05/16/2024]
Abstract
Intuitive regression control of prostheses relies on training algorithms to correlate biological recordings to motor intent. The quality of the training dataset is critical to run-time regression performance, but accurately labeling intended hand kinematics after hand amputation is challenging. In this study, we quantified the accuracy and precision of labeling hand kinematics using two common training paradigms: 1) mimic training, where participants mimic predetermined motions of a prosthesis, and 2) mirror training, where participants mirror their contralateral intact hand during synchronized bilateral movements. We first explored this question in healthy non-amputee individuals where the ground-truth kinematics could be readily determined using motion capture. Kinematic data showed that mimic training fails to account for biomechanical coupling and temporal changes in hand posture. Additionally, mirror training exhibited significantly higher accuracy and precision in labeling hand kinematics. These findings suggest that the mirror training approach generates a more faithful, albeit more complex, dataset. Accordingly, mirror training resulted in significantly better offline regression performance when using a large amount of training data and a non-linear neural network. Next, we explored these different training paradigms online, with a cohort of unilateral transradial amputees actively controlling a prosthesis in real-time to complete a functional task. Overall, we found that mirror training resulted in significantly faster task completion speeds and similar subjective workload. These results demonstrate that mirror training can potentially provide more dexterous control through the utilization of task-specific, user-selected training data. Consequently, these findings serve as a valuable guide for the next generation of myoelectric and neuroprostheses leveraging machine learning to provide more dexterous and intuitive control.
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Becerra-Fajardo L, Minguillon J, Krob MO, Rodrigues C, González-Sánchez M, Megía-García Á, Galán CR, Henares FG, Comerma A, Del-Ama AJ, Gil-Agudo A, Grandas F, Schneider-Ickert A, Barroso FO, Ivorra A. First-in-human demonstration of floating EMG sensors and stimulators wirelessly powered and operated by volume conduction. J Neuroeng Rehabil 2024; 21:4. [PMID: 38172975 PMCID: PMC10765656 DOI: 10.1186/s12984-023-01295-5] [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: 10/03/2023] [Accepted: 12/12/2023] [Indexed: 01/05/2024] Open
Abstract
BACKGROUND Recently we reported the design and evaluation of floating semi-implantable devices that receive power from and bidirectionally communicate with an external system using coupling by volume conduction. The approach, of which the semi-implantable devices are proof-of-concept prototypes, may overcome some limitations presented by existing neuroprostheses, especially those related to implant size and deployment, as the implants avoid bulky components and can be developed as threadlike devices. Here, it is reported the first-in-human acute demonstration of these devices for electromyography (EMG) sensing and electrical stimulation. METHODS A proof-of-concept device, consisting of implantable thin-film electrodes and a nonimplantable miniature electronic circuit connected to them, was deployed in the upper or lower limb of six healthy participants. Two external electrodes were strapped around the limb and were connected to the external system which delivered high frequency current bursts. Within these bursts, 13 commands were modulated to communicate with the implant. RESULTS Four devices were deployed in the biceps brachii and the gastrocnemius medialis muscles, and the external system was able to power and communicate with them. Limitations regarding insertion and communication speed are reported. Sensing and stimulation parameters were configured from the external system. In one participant, electrical stimulation and EMG acquisition assays were performed, demonstrating the feasibility of the approach to power and communicate with the floating device. CONCLUSIONS This is the first-in-human demonstration of EMG sensors and electrical stimulators powered and operated by volume conduction. These proof-of-concept devices can be miniaturized using current microelectronic technologies, enabling fully implantable networked neuroprosthetics.
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Affiliation(s)
- Laura Becerra-Fajardo
- Department of Information and Communications Technologies, Universitat Pompeu Fabra, Barcelona, 08018, Spain
| | - Jesus Minguillon
- Department of Information and Communications Technologies, Universitat Pompeu Fabra, Barcelona, 08018, Spain
- Research Centre for Information and Communications Technologies, University of Granada, Granada, 18014, Spain
- Department of Signal Theory, Telematics and Communications, University of Granada, Granada, 18014, Spain
| | - Marc Oliver Krob
- Fraunhofer Institute for Biomedical Engineering IBMT, 66280, Sulzbach, Germany
| | - Camila Rodrigues
- Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), Madrid, 28002, Spain
- Systems Engineering and Automation Department, Carlos III University of Madrid, Madrid, 28903, Spain
| | - Miguel González-Sánchez
- Movement Disorders Unit, Department of Neurology, Hospital General Universitario Gregorio Marañón, Madrid, 28007, Spain
| | - Álvaro Megía-García
- Biomechanics and Assistive Technology Unit, National Hospital for Paraplegics. Unit of Neurorehabilitation, Biomechanics and Sensory-Motor Function (HNP-SESCAM), Unit associated to the CSIC, Toledo, Spain
| | - Carolina Redondo Galán
- Biomechanics and Assistive Technology Unit, National Hospital for Paraplegics. Unit of Neurorehabilitation, Biomechanics and Sensory-Motor Function (HNP-SESCAM), Unit associated to the CSIC, Toledo, Spain
| | - Francisco Gutiérrez Henares
- Biomechanics and Assistive Technology Unit, National Hospital for Paraplegics. Unit of Neurorehabilitation, Biomechanics and Sensory-Motor Function (HNP-SESCAM), Unit associated to the CSIC, Toledo, Spain
| | - Albert Comerma
- Department of Information and Communications Technologies, Universitat Pompeu Fabra, Barcelona, 08018, Spain
| | - Antonio J Del-Ama
- School of Science and Technology, Department of Applied Mathematics, Materials Science and Engineering and Electronic Technology, Rey Juan Carlos University, Móstoles, 28933, Spain
| | - Angel Gil-Agudo
- Biomechanics and Assistive Technology Unit, National Hospital for Paraplegics. Unit of Neurorehabilitation, Biomechanics and Sensory-Motor Function (HNP-SESCAM), Unit associated to the CSIC, Toledo, Spain
- CSIC's Associated RDI Unit 'Unidad De Neurorehabilitación, Biomecánica Y Función Sensitivo-Motora', Madrid, Spain
| | - Francisco Grandas
- Movement Disorders Unit, Department of Neurology, Hospital General Universitario Gregorio Marañón, Madrid, 28007, Spain
| | | | - Filipe Oliveira Barroso
- Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), Madrid, 28002, Spain
- CSIC's Associated RDI Unit 'Unidad De Neurorehabilitación, Biomecánica Y Función Sensitivo-Motora', Madrid, Spain
| | - Antoni Ivorra
- Department of Information and Communications Technologies, Universitat Pompeu Fabra, Barcelona, 08018, Spain.
- Serra Húnter Fellow Programme, Universitat Pompeu Fabra, Barcelona, 08018, Spain.
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Vu PP, Vaskov AK, Lee C, Jillala RR, Wallace DM, Davis AJ, Kung TA, Kemp SWP, Gates DH, Chestek CA, Cederna PS. Long-term upper-extremity prosthetic control using regenerative peripheral nerve interfaces and implanted EMG electrodes. J Neural Eng 2023; 20:026039. [PMID: 37023743 PMCID: PMC10126717 DOI: 10.1088/1741-2552/accb0c] [Citation(s) in RCA: 9] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/06/2022] [Revised: 03/23/2023] [Accepted: 04/06/2023] [Indexed: 04/08/2023]
Abstract
Objective.Extracting signals directly from the motor system poses challenges in obtaining both high amplitude and sustainable signals for upper-limb neuroprosthetic control. To translate neural interfaces into the clinical space, these interfaces must provide consistent signals and prosthetic performance.Approach.Previously, we have demonstrated that the Regenerative Peripheral Nerve Interface (RPNI) is a biologically stable, bioamplifier of efferent motor action potentials. Here, we assessed the signal reliability from electrodes surgically implanted in RPNIs and residual innervated muscles in humans for long-term prosthetic control.Main results.RPNI signal quality, measured as signal-to-noise ratio, remained greater than 15 for up to 276 and 1054 d in participant 1 (P1), and participant 2 (P2), respectively. Electromyography from both RPNIs and residual muscles was used to decode finger and grasp movements. Though signal amplitude varied between sessions, P2 maintained real-time prosthetic performance above 94% accuracy for 604 d without recalibration. Additionally, P2 completed a real-world multi-sequence coffee task with 99% accuracy for 611 d without recalibration.Significance.This study demonstrates the potential of RPNIs and implanted EMG electrodes as a long-term interface for enhanced prosthetic control.
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Affiliation(s)
- Philip P Vu
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI 48109, United States of America
- Section of Plastic Surgery, University of Michigan, Ann Arbor, MI 48109, United States of America
| | - Alex K Vaskov
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI 48109, United States of America
- Section of Plastic Surgery, University of Michigan, Ann Arbor, MI 48109, United States of America
- Robotics Institute, University of Michigan, Ann Arbor, MI 48109, United States of America
| | - Christina Lee
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI 48109, United States of America
| | - Ritvik R Jillala
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI 48109, United States of America
| | - Dylan M Wallace
- Robotics Institute, University of Michigan, Ann Arbor, MI 48109, United States of America
| | - Alicia J Davis
- University of Michigan Hospital Orthotics & Prosthetics Center Ann Arbor, Ann Arbor, MI 48109, United States of America
| | - Theodore A Kung
- Section of Plastic Surgery, University of Michigan, Ann Arbor, MI 48109, United States of America
| | - Stephen W P Kemp
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI 48109, United States of America
- Section of Plastic Surgery, University of Michigan, Ann Arbor, MI 48109, United States of America
| | - Deanna H Gates
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI 48109, United States of America
- Robotics Institute, University of Michigan, Ann Arbor, MI 48109, United States of America
- School of Kinesiology, University of Michigan, Ann Arbor, MI 48109, United States of America
| | - Cynthia A Chestek
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI 48109, United States of America
- Robotics Institute, University of Michigan, Ann Arbor, MI 48109, United States of America
- Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI 48109, United States of America
- Neuroscience Graduate Program, University of Michigan, Ann Arbor, MI 48109, United States of America
| | - Paul S Cederna
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI 48109, United States of America
- Section of Plastic Surgery, University of Michigan, Ann Arbor, MI 48109, United States of America
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5
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Gehlhar R, Tucker M, Young AJ, Ames AD. A Review of Current State-of-the-Art Control Methods for Lower-Limb Powered Prostheses. ANNUAL REVIEWS IN CONTROL 2023; 55:142-164. [PMID: 37635763 PMCID: PMC10449377 DOI: 10.1016/j.arcontrol.2023.03.003] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/29/2023]
Abstract
Lower-limb prostheses aim to restore ambulatory function for individuals with lower-limb amputations. While the design of lower-limb prostheses is important, this paper focuses on the complementary challenge - the control of lower-limb prostheses. Specifically, we focus on powered prostheses, a subset of lower-limb prostheses, which utilize actuators to inject mechanical power into the walking gait of a human user. In this paper, we present a review of existing control strategies for lower-limb powered prostheses, including the control objectives, sensing capabilities, and control methodologies. We separate the various control methods into three main tiers of prosthesis control: high-level control for task and gait phase estimation, mid-level control for desired torque computation (both with and without the use of reference trajectories), and low-level control for enforcing the computed torque commands on the prosthesis. In particular, we focus on the high- and mid-level control approaches in this review. Additionally, we outline existing methods for customizing the prosthetic behavior for individual human users. Finally, we conclude with a discussion on future research directions for powered lower-limb prostheses based on the potential of current control methods and open problems in the field.
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Affiliation(s)
- Rachel Gehlhar
- Department of Mechanical and Civil Engineering, California Institute of Technology, 1200 E. California Blvd., Pasadena, 91125, CA, USA
| | - Maegan Tucker
- Department of Mechanical and Civil Engineering, California Institute of Technology, 1200 E. California Blvd., Pasadena, 91125, CA, USA
| | - Aaron J Young
- Woodruff School of Mechanical Engineering, Georgia Institute of Technology, North Avenue, Atlanta, 30332, GA, USA
- Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, North Avenue, Atlanta, 30332, GA, USA
| | - Aaron D Ames
- Department of Mechanical and Civil Engineering, California Institute of Technology, 1200 E. California Blvd., Pasadena, 91125, CA, USA
- Department of Computing and Mathematical Sciences, California Institute of Technology, 1200 E. California Blvd., Pasadena, 91125, CA, USA
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Asghar A, Khan SJ, Azim F, Shakeel CS, Hussain A, Niazi IK. Intramuscular EMG feature extraction and evaluation at different arm positions and hand postures based on a statistical criterion method. Proc Inst Mech Eng H 2023; 237:74-90. [PMID: 36458327 DOI: 10.1177/09544119221139593] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/03/2022]
Abstract
Prostheses control using electromyography signals have shown promising aspects in various fields including rehabilitation sciences and assistive technology controlled devices. Pattern recognition and machine learning methods have been observed to play a significant role in evaluating features and classifying different limb motions for enhanced prosthetic executions. This paper proposes feature extraction and evaluation method using intramuscular electromyography (iEMG) signals at different arm positions and hand postures based on the RES Index value statistical criterion method. Sixteen-time domain features were selected for the study at two main circumstances; fixed arm position (FAP) and fixed hand posture (FHP). Eight healthy male participants (30.62 ± 3.87 years) were asked to execute five motion classes including hand grip, hand open, rest, hand extension, and hand flexion at four different arm positions that comprise of 0°, 45°, 90°, and 135°. The classification process is accomplished via the application of the k-nearest neighbor (KNN) classifier. Then RES index was calculated to investigate the optimal features based on the proposed statistical criterion method. From the RES Index, we concluded that Variance (VAR) is the best feature while WAMP, Zero Crossing (ZC), and Slope Sign Change (SSC) are the worst ones in FAP conditions. On the contrary, we concluded that Average Amplitude Change (AAC) is the best feature while WAMP and Simple Square Integral (SSI) resulted in least RES Index values for FHP conditions. The proposed study has possible iEMG based applications such as assistive control devices, robotics. Also, working with the frequency domain features encapsulates the future scope of the study.
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Affiliation(s)
- Ali Asghar
- Department of Biomedical Engineering, Faculty of Engineering, Science, Technology and Management, Ziauddin University, Karachi, Pakistan.,Department of Electrical Engineering, Faculty of Engineering, Science, Technology and Management, Ziauddin University, Karachi, Pakistan
| | - Saad Jawaid Khan
- Department of Biomedical Engineering, Faculty of Engineering, Science, Technology and Management, Ziauddin University, Karachi, Pakistan
| | - Fahad Azim
- Department of Electrical Engineering, Faculty of Engineering, Science, Technology and Management, Ziauddin University, Karachi, Pakistan
| | - Choudhary Sobhan Shakeel
- Department of Biomedical Engineering, Faculty of Engineering, Science, Technology and Management, Ziauddin University, Karachi, Pakistan
| | - Amatullah Hussain
- College of Rehabilitation Sciences, Ziauddin University, Karachi, Pakistan
| | - Imran Khan Niazi
- Centre for Chiropractic Research, New Zealand College of Chiropractic, Auckland, New Zealand.,Faculty of Health and Environmental Sciences, Health and Rehabilitation Research Institute, AUT University, Auckland, New Zealand.,Centre for Sensory-Motor Interactions, Department of Health, Science and Technology, Aalborg University, Aalborg, Denmark
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7
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Lee C, Vaskov AK, Gonzalez MA, Vu PP, Davis AJ, Cederna PS, Chestek CA, Gates DH. Use of regenerative peripheral nerve interfaces and intramuscular electrodes to improve prosthetic grasp selection: a case study. J Neural Eng 2022; 19:10.1088/1741-2552/ac9e1c. [PMID: 36317254 PMCID: PMC9942093 DOI: 10.1088/1741-2552/ac9e1c] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/17/2022] [Accepted: 10/27/2022] [Indexed: 11/16/2022]
Abstract
Objective.Advanced myoelectric hands enable users to select from multiple functional grasps. Current methods for controlling these hands are unintuitive and require frequent recalibration. This case study assessed the performance of tasks involving grasp selection, object interaction, and dynamic postural changes using intramuscular electrodes with regenerative peripheral nerve interfaces (RPNIs) and residual muscles.Approach.One female with unilateral transradial amputation participated in a series of experiments to compare the performance of grasp selection controllers with RPNIs and intramuscular control signals with controllers using surface electrodes. These experiments included a virtual grasp-matching task with and without a concurrent cognitive task and physical tasks with a prosthesis including standardized functional assessments and a functional assessment where the individual made a cup of coffee ('Coffee Task') that required grasp transitions.Main results.In the virtual environment, the participant was able to select between four functional grasps with higher accuracy using the RPNI controller (92.5%) compared to surface controllers (81.9%). With the concurrent cognitive task, performance of the virtual task was more consistent with RPNI controllers (reduced accuracy by 1.1%) compared to with surface controllers (4.8%). When RPNI signals were excluded from the controller with intramuscular electromyography (i.e. residual muscles only), grasp selection accuracy decreased by up to 24%. The participant completed the Coffee Task with 11.7% longer completion time with the surface controller than with the RPNI controller. She also completed the Coffee Task with 11 fewer transition errors out of a maximum of 25 total errors when using the RPNI controller compared to surface controller.Significance.The use of RPNI signals in concert with residual muscles and intramuscular electrodes can improve grasp selection accuracy in both virtual and physical environments. This approach yielded consistent performance without recalibration needs while reducing cognitive load associated with pattern recognition for myoelectric control (clinical trial registration number NCT03260400).
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Affiliation(s)
- Christina Lee
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI, USA
| | - Alex K. Vaskov
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI, USA
| | | | - Philip P. Vu
- Section of Plastic Surgery, University of Michigan, Ann Arbor, MI, USA
| | - Alicia J. Davis
- Department of Physical Medicine and Rehabilitation, University of Michigan, Ann Arbor, MI, USA
| | - Paul S. Cederna
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI, USA
- Section of Plastic Surgery, University of Michigan, Ann Arbor, MI, USA
| | - Cynthia A. Chestek
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI, USA
- Robotics Institute, University of Michigan, Ann Arbor, MI, USA
| | - Deanna H. Gates
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI, USA
- Robotics Institute, University of Michigan, Ann Arbor, MI, USA
- School of Kinesiology, University of Michigan, Ann Arbor, MI, USA
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8
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Vaskov AK, Vu PP, North N, Davis AJ, Kung TA, Gates DH, Cederna PS, Chestek CA. Surgically Implanted Electrodes Enable Real-Time Finger and Grasp Pattern Recognition for Prosthetic Hands. IEEE T ROBOT 2022; 38:2841-2857. [PMID: 37193351 PMCID: PMC10168021 DOI: 10.1109/tro.2022.3170720] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
Abstract
Currently available prosthetic hands are capable of actuating anywhere from five to 30 degrees of freedom (DOF). However, grasp control of these devices remains unintuitive and cumbersome. To address this issue, we propose directly extracting finger commands from the neuromuscular system. Two persons with transradial amputations had bipolar electrodes implanted into regenerative peripheral nerve interfaces (RPNIs) and residual innervated muscles. The implanted electrodes recorded local electromyography with large signal amplitudes. In a series of single-day experiments, participants used a high speed movement classifier to control a virtual prosthetic hand in real-time. Both participants transitioned between 10 pseudo-randomly cued individual finger and wrist postures with an average success rate of 94.7% and trial latency of 255 ms. When the set was reduced to five grasp postures, metrics improved to 100% success and 135 ms trial latency. Performance remained stable across untrained static arm positions while supporting the weight of the prosthesis. Participants also used the high speed classifier to switch between robotic prosthetic grips and complete a functional performance assessment. These results demonstrate that pattern recognition systems can use intramuscular electrodes and RPNIs for fast and accurate prosthetic grasp control.
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Affiliation(s)
- Alex K Vaskov
- Robotics Institute, University of Michigan, Ann Arbor, MI 48109 USA
| | - Philip P Vu
- Section of Plastic Surgery, University of Michigan, Ann Arbor, MI 48109 USA
| | - Naia North
- Mechanical Engineering department at University of Michigan, Ann Arbor, MI 48109 USA
| | - Alicia J Davis
- Department of Physical Medicine and Rehabilitation at the University of Michigan, Ann Arbor, MI 48109 USA
| | - Theodore A Kung
- Section of Plastic Surgery, University of Michigan, Ann Arbor, MI 48109 USA
| | - Deanna H Gates
- School of Kinesiology, University of Michigan, Ann Arbor, MI 48109 USA
| | - Paul S Cederna
- Section of Plastic Surgery, University of Michigan, Ann Arbor, MI 48109 USA
| | - Cynthia A Chestek
- Department of Biomedical Engineering, University of Michigan, Ann Arbor, MI 48109 USA
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9
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Moradi A, Rafiei H, Daliri M, Akbarzadeh-T MR, Akbarzadeh A, Naddaf-Sh AM, Naddaf-Sh S. Clinical implementation of a bionic hand controlled with kineticomyographic signals. Sci Rep 2022; 12:14805. [PMID: 36045214 PMCID: PMC9433417 DOI: 10.1038/s41598-022-19128-1] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/24/2022] [Accepted: 08/24/2022] [Indexed: 11/23/2022] Open
Abstract
Sensing the proper signal could be a vital piece of the solution to the much evading attributes of prosthetic hands, such as robustness to noise, ease of connectivity, and intuitive movement. Towards this end, magnetics tags have been recently suggested as an alternative sensing mechanism to the more common EMG signals. Such sensing technology, however, is inherently invasive and hence only in simulation stages of magnet localization to date. Here, for the first time, we report on the clinical implementation of implanted magnetic tags for an amputee's prosthetic hand from both the medical and engineering perspectives. Specifically, the proposed approach introduces a flexor-extensor tendon transfer surgical procedure to implant the tags, artificial neural networks to extract human intention directly from the implanted magnet's magnetic fields -in short KineticoMyoGraphy (KMG) signals- rather than localizing them, and a game strategy to examine the proposed algorithms and rehabilitate the patient with his new prosthetic hand. The bionic hand's ability is then tested following the patient's intended gesture type and grade. The statistical results confirm the possible utility of surgically implanted magnetic tags as an accurate sensing interface for recognizing the intended gesture and degree of movement between an amputee and his bionic hand.
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Affiliation(s)
- Ali Moradi
- Orthopedic Research Center, Ghaem Hospital, Mashhad University of Medical Sciences, Azadi Sq., Mashhad, 91388-13944, Iran
| | - Hamed Rafiei
- Department of Electrical Engineering, Center of Excellence on Soft Computing and Intelligent Information Processing (SCIIP), Ferdowsi University of Mashhad, Azadi Sq., Mashhad, 9177948974, Iran
| | - Mahla Daliri
- Orthopedic Research Center, Ghaem Hospital, Mashhad University of Medical Sciences, Azadi Sq., Mashhad, 91388-13944, Iran
| | - Mohammad-R Akbarzadeh-T
- Department of Electrical Engineering, Center of Excellence on Soft Computing and Intelligent Information Processing (SCIIP), Ferdowsi University of Mashhad, Azadi Sq., Mashhad, 9177948974, Iran.
| | - Alireza Akbarzadeh
- Department of Mechanical Engineering, FUM Center of Advanced Rehabilitation and Robotics Research (FUM CARE) and Center of Excllence on Soft Computing and Intelligent Information Processing (SCIIP), Ferdowsi University of Mashhad, Azadi Sq., Mashhad, 9177948974, Iran
| | - Amir-M Naddaf-Sh
- Department of Electrical Engineering, Center of Excellence on Soft Computing and Intelligent Information Processing (SCIIP), Ferdowsi University of Mashhad, Azadi Sq., Mashhad, 9177948974, Iran
| | - Sadra Naddaf-Sh
- Department of Computer Engineering, Center of Excellence on Soft Computing and Intelligent Information Processing (SCIIP), Ferdowsi University of Mashhad, Azadi Sq., Mashhad, 9177948974, Iran
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10
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Park H, Choi W, Oh S, Kim YJ, Seok S, Kim J. A Study on Biocompatible Polymer-Based Packaging of Neural Interface for Chronic Implantation. MICROMACHINES 2022; 13:mi13040516. [PMID: 35457821 PMCID: PMC9027597 DOI: 10.3390/mi13040516] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/23/2022] [Revised: 03/21/2022] [Accepted: 03/24/2022] [Indexed: 02/05/2023]
Abstract
This paper proposed and verified the use of polymer-based packaging to implement the chronic implantation of neural interfaces using a combination of a commercial thermal epoxy and a thin parylene film. The packaging’s characteristics and the performance of the vulnerable interface between the thermal epoxy layer and polyimide layer, which is mainly used for neural electrodes and an FPCB, were evaluated through in vitro, in vivo, and acceleration experiments. The performance of neural interfaces—composed of the combination of the thermal epoxy and thin parylene film deposition as encapsulation packaging—was evaluated by using signal acquisition experiments based on artificial stimulation signal transmissions through in vitro and in vivo experiments. It has been found that, when commercial thermal epoxy normally cured at room temperature was cured at higher temperatures of 45 °C and 65 °C, not only is its lifetime increased with about twice the room-temperature-based curing conditions but also an interfacial adhesion is higher with more than twice the room-temperature-based curing conditions. In addition, through in vivo experiments using rats, it was confirmed that bodily fluids did not flow into the interface between the thermal epoxy and FPCB for up to 18 months, and it was verified that the rats maintained healthy conditions without occurring an immune response in the body to the thin parylene film deposition on the packaging’s surface.
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Affiliation(s)
- HyungDal Park
- Center for Bionics, Korea Institute of Science and Technology (KIST), Seoul 02792, Korea; (H.P.); (W.C.); (S.O.)
- School of Mechanical Engineering, Yonsei University, Seoul 03722, Korea
| | - Wonsuk Choi
- Center for Bionics, Korea Institute of Science and Technology (KIST), Seoul 02792, Korea; (H.P.); (W.C.); (S.O.)
- Department of Biomedical Engineering, Korea University, Seoul 02841, Korea
| | - Seonghwan Oh
- Center for Bionics, Korea Institute of Science and Technology (KIST), Seoul 02792, Korea; (H.P.); (W.C.); (S.O.)
- Department of Biomedical Engineering, Korea University, Seoul 02841, Korea
| | - Yong-Jun Kim
- School of Mechanical Engineering, Yonsei University, Seoul 03722, Korea
- Correspondence: (Y.-J.K.); (S.S.); (J.K.)
| | - Seonho Seok
- Center for Nanoscience and Nanotechnology (C2N), University-Paris-Saclay, 91400 Orsay, France
- Correspondence: (Y.-J.K.); (S.S.); (J.K.)
| | - Jinseok Kim
- Center for Bionics, Korea Institute of Science and Technology (KIST), Seoul 02792, Korea; (H.P.); (W.C.); (S.O.)
- Correspondence: (Y.-J.K.); (S.S.); (J.K.)
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Williams H, Shehata AW, Dawson M, Scheme E, Hebert J, Pilarski P. Recurrent Convolutional Neural Networks as an Approach to Position-Aware Myoelectric Prosthesis Control. IEEE Trans Biomed Eng 2022; 69:2243-2255. [PMID: 34986093 DOI: 10.1109/tbme.2022.3140269] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
OBJECTIVE Persons with normal arm function can perform complex wrist and hand movements over a wide range of limb positions. However, for those with transradial amputation who use myoelectric prostheses, control across multiple limb positions can be challenging, frustrating, and can increase the likelihood of device abandonment. In response, the goal of this research was to investigate recurrent convolutional neural network (RCNN)-based position-aware myoelectric prosthesis control strategies. METHODS Surface electromyographic (EMG) and inertial measurement unit (IMU) signals, obtained from 16 non-disabled participants wearing two Myo armbands, served as inputs to RCNN classification and regression models. Such models predicted movements (wrist flexion/extension and forearm pronation/supination), based on a multi-limb-position training routine. RCNN classifiers and RCNN regressors were compared to linear discriminant analysis (LDA) classifiers and support vector regression (SVR) regressors, respectively. Outcomes were examined to determine whether RCNN-based control strategies could yield accurate movement predictions, while using the fewest number of available Myo armband data streams. RESULTS An RCNN classifier (trained with forearm EMG data, and forearm and upper arm IMU data) predicted movements with 99.00% accuracy (versus the LDAs 97.67%). An RCNN regressor (trained with forearm EMG and IMU data) predicted movements with R2 values of 84.93% for wrist flexion/extension and 84.97% for forearm pronation/supination (versus the SVRs 77.26% and 60.73%, respectively). The control strategies that employed these models required fewer than all available data streams. CONCLUSION RCNN-based control strategies offer novel means of mitigating limb position challenges. SIGNIFICANCE This research furthers the development of improved position-aware myoelectric prosthesis control.
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Merlo A, Bò MC, Campanini I. Electrode Size and Placement for Surface EMG Bipolar Detection from the Brachioradialis Muscle: A Scoping Review. SENSORS 2021; 21:s21217322. [PMID: 34770627 PMCID: PMC8587451 DOI: 10.3390/s21217322] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/30/2021] [Revised: 10/28/2021] [Accepted: 11/01/2021] [Indexed: 11/19/2022]
Abstract
The brachioradialis muscle (BRD) is one of the main elbow flexors and is often assessed by surface electromyography (sEMG) in physiology, clinical, sports, ergonomics, and bioengineering applications. The reliability of the sEMG measurement strongly relies on the characteristics of the detection system used, because of possible crosstalk from the surrounding forearm muscles. We conducted a scoping review of the main databases to explore available guidelines of electrode placement on BRD and to map the electrode configurations used and authors’ awareness on the issues of crosstalk. One hundred and thirty-four studies were included in the review. The crosstalk was mentioned in 29 studies, although two studies only were specifically designed to assess it. One hundred and six studies (79%) did not even address the issue by generically placing the sensors above BRD, usually choosing large disposable ECG electrodes. The analysis of the literature highlights a general lack of awareness on the issues of crosstalk and the need for adequate training in the sEMG field. Three guidelines were found, whose recommendations have been compared and summarized to promote reliability in further studies. In particular, it is crucial to use miniaturized electrodes placed on a specific area over the muscle, especially when BRD activity is recorded for clinical applications.
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Affiliation(s)
- Andrea Merlo
- LAM-Motion Analysis Laboratory, S. Sebastiano Hospital, Neuromotor and Rehabilitation Department, Azienda USL-IRCCS di Reggio Emilia, Via Circondaria 29, 42015 Correggio, Italy;
- Merlo Bioengineering, 43100 Parma, Italy;
| | | | - Isabella Campanini
- LAM-Motion Analysis Laboratory, S. Sebastiano Hospital, Neuromotor and Rehabilitation Department, Azienda USL-IRCCS di Reggio Emilia, Via Circondaria 29, 42015 Correggio, Italy;
- Correspondence:
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Segil JL, Lukyanenko P, Lambrecht J, Weir RFF, Tyler D. Comparison of Myoelectric Control Schemes for Simultaneous Hand and Wrist Movement using Chronically Implanted Electromyography: A Case Series . ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2021; 2021:6224-6230. [PMID: 34892537 PMCID: PMC10964936 DOI: 10.1109/embc46164.2021.9630845] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
OBJECTIVE A current biomedical engineering challenge is the development of a system that allows fluid control of multi-functional prosthetic devices through a human-machine interface. Here we probe this challenge by studying two subjects with trans-radial limb loss as they control a virtual hand and wrist system using 6 or 8 chronically implanted intramuscular electromyographic (iEMG) signals. The subjects successfully controlled a 4, 5, and 6 Degrees of Freedom (DoF's) virtual hand and wrist systems to perform a target matching task. APPROACH Two control systems were evaluated where one tied EMG features directly to movement directions (Direct Control) and the other method determines user intent in the context of prior training data (Linear Interpolation). MAIN RESULTS Subjects successfully matched most targets with both controllers but differences were seen as the complexity of the virtual limb system increased. The Direct Control method encountered difficulty due to crosstalk at higher DoF's. The Linear Interpolation method reduced crosstalk effects and outperformed Direct Control at higher DoF's. This work also studied the use of the Postural Control Algorithm to control the hand postures simultaneously with wrist degrees of freedom. SIGNIFICANCE This work presents preliminary evidence that the PC algorithm can be used in conjunction with wrist control, that Direct Control with iEMG signals allows stable 4-DoF control, and that EMG pre-processing using the Linear Interpolation method can improve performance at 5 and 6-DoF's.
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Esposito D, Centracchio J, Andreozzi E, Gargiulo GD, Naik GR, Bifulco P. Biosignal-Based Human-Machine Interfaces for Assistance and Rehabilitation: A Survey. SENSORS 2021; 21:s21206863. [PMID: 34696076 PMCID: PMC8540117 DOI: 10.3390/s21206863] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/31/2021] [Revised: 09/30/2021] [Accepted: 10/12/2021] [Indexed: 12/03/2022]
Abstract
As a definition, Human–Machine Interface (HMI) enables a person to interact with a device. Starting from elementary equipment, the recent development of novel techniques and unobtrusive devices for biosignals monitoring paved the way for a new class of HMIs, which take such biosignals as inputs to control various applications. The current survey aims to review the large literature of the last two decades regarding biosignal-based HMIs for assistance and rehabilitation to outline state-of-the-art and identify emerging technologies and potential future research trends. PubMed and other databases were surveyed by using specific keywords. The found studies were further screened in three levels (title, abstract, full-text), and eventually, 144 journal papers and 37 conference papers were included. Four macrocategories were considered to classify the different biosignals used for HMI control: biopotential, muscle mechanical motion, body motion, and their combinations (hybrid systems). The HMIs were also classified according to their target application by considering six categories: prosthetic control, robotic control, virtual reality control, gesture recognition, communication, and smart environment control. An ever-growing number of publications has been observed over the last years. Most of the studies (about 67%) pertain to the assistive field, while 20% relate to rehabilitation and 13% to assistance and rehabilitation. A moderate increase can be observed in studies focusing on robotic control, prosthetic control, and gesture recognition in the last decade. In contrast, studies on the other targets experienced only a small increase. Biopotentials are no longer the leading control signals, and the use of muscle mechanical motion signals has experienced a considerable rise, especially in prosthetic control. Hybrid technologies are promising, as they could lead to higher performances. However, they also increase HMIs’ complexity, so their usefulness should be carefully evaluated for the specific application.
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Affiliation(s)
- Daniele Esposito
- Department of Electrical Engineering and Information Technologies, Polytechnic and Basic Sciences School, University of Naples “Federico II”, 80125 Naples, Italy; (D.E.); (J.C.); (E.A.); (P.B.)
| | - Jessica Centracchio
- Department of Electrical Engineering and Information Technologies, Polytechnic and Basic Sciences School, University of Naples “Federico II”, 80125 Naples, Italy; (D.E.); (J.C.); (E.A.); (P.B.)
| | - Emilio Andreozzi
- Department of Electrical Engineering and Information Technologies, Polytechnic and Basic Sciences School, University of Naples “Federico II”, 80125 Naples, Italy; (D.E.); (J.C.); (E.A.); (P.B.)
| | - Gaetano D. Gargiulo
- School of Engineering, Design and Built Environment, Western Sydney University, Penrith, NSW 2747, Australia;
- The MARCS Institute, Western Sydney University, Penrith, NSW 2751, Australia
| | - Ganesh R. Naik
- School of Engineering, Design and Built Environment, Western Sydney University, Penrith, NSW 2747, Australia;
- The Adelaide Institute for Sleep Health, Flinders University, Bedford Park, SA 5042, Australia
- Correspondence:
| | - Paolo Bifulco
- Department of Electrical Engineering and Information Technologies, Polytechnic and Basic Sciences School, University of Naples “Federico II”, 80125 Naples, Italy; (D.E.); (J.C.); (E.A.); (P.B.)
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Abstract
Brain-machine interfaces (BMI) are being developed to restore upper limb function for persons with spinal cord injury or other motor degenerative conditions. BMI and implantable sensors for myoelectric prostheses directly extract information from the central or peripheral nervous system to provide users with high fidelity control of their prosthetic device. Control algorithms have been highly transferable between the 2 technologies but also face common issues. In this review of the current state of the art in each field, the authors point out similarities and differences between the 2 technologies that may guide the implementation of common solutions to these challenges.
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Affiliation(s)
- Alex K Vaskov
- Robotics Institute, University of Michigan, 2505 Hayward St, Ann Arbor, MI 48109, USA
| | - Cynthia A Chestek
- Robotics Institute, University of Michigan, 2505 Hayward St, Ann Arbor, MI 48109, USA; Department of Biomedical Engineering, University of Michigan, 2200 Bonisteel Blvd, Ann Arbor, MI 48109, USA; Department of Electrical Engineering and Computer Science, University of Michigan, 1301 Beal Ave, Ann Arbor, MI 48109, USA; Neuroscience Graduate Program, University of Michigan, 204 Washtenaw Ave, Ann Arbor, MI 48109, USA.
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16
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Fleming A, Stafford N, Huang S, Hu X, Ferris DP, Huang H(H. Myoelectric control of robotic lower limb prostheses: a review of electromyography interfaces, control paradigms, challenges and future directions. J Neural Eng 2021; 18:10.1088/1741-2552/ac1176. [PMID: 34229307 PMCID: PMC8694273 DOI: 10.1088/1741-2552/ac1176] [Citation(s) in RCA: 43] [Impact Index Per Article: 14.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/09/2021] [Accepted: 07/06/2021] [Indexed: 11/16/2022]
Abstract
Objective.Advanced robotic lower limb prostheses are mainly controlled autonomously. Although the existing control can assist cyclic movements during locomotion of amputee users, the function of these modern devices is still limited due to the lack of neuromuscular control (i.e. control based on human efferent neural signals from the central nervous system to peripheral muscles for movement production). Neuromuscular control signals can be recorded from muscles, called electromyographic (EMG) or myoelectric signals. In fact, using EMG signals for robotic lower limb prostheses control has been an emerging research topic in the field for the past decade to address novel prosthesis functionality and adaptability to different environments and task contexts. The objective of this paper is to review robotic lower limb Prosthesis control via EMG signals recorded from residual muscles in individuals with lower limb amputations.Approach.We performed a literature review on surgical techniques for enhanced EMG interfaces, EMG sensors, decoding algorithms, and control paradigms for robotic lower limb prostheses.Main results.This review highlights the promise of EMG control for enabling new functionalities in robotic lower limb prostheses, as well as the existing challenges, knowledge gaps, and opportunities on this research topic from human motor control and clinical practice perspectives.Significance.This review may guide the future collaborations among researchers in neuromechanics, neural engineering, assistive technologies, and amputee clinics in order to build and translate true bionic lower limbs to individuals with lower limb amputations for improved motor function.
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Affiliation(s)
- Aaron Fleming
- Joint Department of Biomedical Engineering, North Carolina State University, Raleigh, NC 27695, United States of America
- Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, United States of America
- Equal contribution as the first author
| | - Nicole Stafford
- Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL 32611, United States of America
- Equal contribution as the first author
| | - Stephanie Huang
- Joint Department of Biomedical Engineering, North Carolina State University, Raleigh, NC 27695, United States of America
- Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, United States of America
| | - Xiaogang Hu
- Joint Department of Biomedical Engineering, North Carolina State University, Raleigh, NC 27695, United States of America
- Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, United States of America
| | - Daniel P Ferris
- J. Crayton Pruitt Family Department of Biomedical Engineering, University of Florida, Gainesville, FL 32611, United States of America
| | - He (Helen) Huang
- Joint Department of Biomedical Engineering, North Carolina State University, Raleigh, NC 27695, United States of America
- Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599, United States of America
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Lukyanenko P, Dewald HA, Lambrecht J, Kirsch RF, Tyler DJ, Williams MR. Stable, simultaneous and proportional 4-DoF prosthetic hand control via synergy-inspired linear interpolation: a case series. J Neuroeng Rehabil 2021; 18:50. [PMID: 33736656 PMCID: PMC7977328 DOI: 10.1186/s12984-021-00833-3] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/25/2020] [Accepted: 02/02/2021] [Indexed: 11/10/2022] Open
Abstract
BACKGROUND Current commercial prosthetic hand controllers limit patients' ability to fully engage high Degree-of-Freedom (DoF) prosthetic hands. Available feedforward controllers rely on large training data sets for controller setup and a need for recalibration upon prosthesis donning. Recently, an intuitive, proportional, simultaneous, regression-based 3-DoF controller remained stable for several months without retraining by combining chronically implanted electromyography (ciEMG) electrodes with a K-Nearest-Neighbor (KNN) mapping technique. The training dataset requirements for simultaneous KNN controllers increase exponentially with DoF, limiting the realistic development of KNN controllers in more than three DoF. We hypothesize that a controller combining linear interpolation, the muscle synergy framework, and a sufficient number of ciEMG channels (at least two per DoF), can allow stable, high-DoF control. METHODS Two trans-radial amputee subjects, S6 and S8, were implanted with percutaneously interfaced bipolar intramuscular electrodes. At the time of the study, S6 and S8 had 6 and 8 bipolar EMG electrodes, respectively. A Virtual Reality (VR) system guided users through single and paired training movements in one 3-DoF and four different 4-DoF cases. A linear model of user activity was built by partitioning EMG feature space into regions bounded by vectors of steady state movement EMG patterns. The controller evaluated online EMG signals by linearly interpolating the movement class labels for surrounding trained EMG movements. This yields a simultaneous, continuous, intuitive, and proportional controller. Controllers were evaluated in 3-DoF and 4-DoF through a target-matching task in which subjects controlled a virtual hand to match 80 targets spanning the available movement space. Match Percentage, Time-To-Target, and Path Efficiency were evaluated over a 10-month period based on subject availability. RESULTS AND CONCLUSIONS In 3-DoF, S6 and S8 matched most targets and demonstrated stable control after 8 and 10 months, respectively. In 4-DoF, both subjects initially found two of four 4-DoF controllers usable, matching most targets. S8 4-DoF controllers were stable, and showed improving trends over 7-9 months without retraining or at-home practice. S6 4-DoF controllers were unstable after 7 months without retraining. These results indicate that the performance of the controller proposed in this study may remain stable, or even improve, provided initial viability and a sufficient number of EMG channels. Overall, this study demonstrates a controller capable of stable, simultaneous, proportional, intuitive, and continuous control in 3-DoF for up to ten months and in 4-DoF for up to nine months without retraining or at-home use with minimal training times.
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Affiliation(s)
- Platon Lukyanenko
- Department of Biomedical Engineering, Case Western Reserve University, 10900 Euclid Avenue, Cleveland, OH, 44106-1712, USA.,APT Center, Louis Stokes Cleveland Veterans Affairs Medical Center, 10701 East Blvd., Mail Stop 151 W/APT, Cleveland, OH, 44106-1702, USA
| | - Hendrik Adriaan Dewald
- Department of Biomedical Engineering, Case Western Reserve University, 10900 Euclid Avenue, Cleveland, OH, 44106-1712, USA.,Cleveland FES Center, Louis Stokes Cleveland Veterans Affairs Medical Center, 10701 East Boulevard, B-E210, Cleveland, OH, 44106-1702, USA
| | - Joris Lambrecht
- Department of Biomedical Engineering, Case Western Reserve University, 10900 Euclid Avenue, Cleveland, OH, 44106-1712, USA.,Cleveland FES Center, Louis Stokes Cleveland Veterans Affairs Medical Center, 10701 East Boulevard, B-E210, Cleveland, OH, 44106-1702, USA
| | - Robert F Kirsch
- Department of Biomedical Engineering, Case Western Reserve University, 10900 Euclid Avenue, Cleveland, OH, 44106-1712, USA.,Cleveland FES Center, Louis Stokes Cleveland Veterans Affairs Medical Center, 10701 East Boulevard, B-E210, Cleveland, OH, 44106-1702, USA
| | - Dustin J Tyler
- Department of Biomedical Engineering, Case Western Reserve University, 10900 Euclid Avenue, Cleveland, OH, 44106-1712, USA. .,Cleveland FES Center, Louis Stokes Cleveland Veterans Affairs Medical Center, 10701 East Boulevard, B-E210, Cleveland, OH, 44106-1702, USA. .,APT Center, Louis Stokes Cleveland Veterans Affairs Medical Center, 10701 East Blvd., Mail Stop 151 W/APT, Cleveland, OH, 44106-1702, USA.
| | - Matthew R Williams
- Department of Biomedical Engineering, Case Western Reserve University, 10900 Euclid Avenue, Cleveland, OH, 44106-1712, USA.,Cleveland FES Center, Louis Stokes Cleveland Veterans Affairs Medical Center, 10701 East Boulevard, B-E210, Cleveland, OH, 44106-1702, USA
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18
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Vaskov AK, Vu PP, North N, Davis AJ, Kung TA, Gates DH, Cederna PS, Chestek CA. Surgically Implanted Electrodes Enable Real-Time Finger and Grasp Pattern Recognition for Prosthetic Hands. MEDRXIV : THE PREPRINT SERVER FOR HEALTH SCIENCES 2020:2020.10.28.20217273. [PMID: 33173910 PMCID: PMC7654906 DOI: 10.1101/2020.10.28.20217273] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/24/2022]
Abstract
Currently available prosthetic hands are capable of actuating anywhere from five to 30 degrees of freedom (DOF). However, grasp control of these devices remains unintuitive and cumbersome. To address this issue, we propose directly extracting finger commands from the neuromuscular system via electrodes implanted in residual innervated muscles and regenerative peripheral nerve interfaces (RPNIs). Two persons with transradial amputations had RPNIs created by suturing autologous free muscle grafts to their transected median, ulnar, and dorsal radial sensory nerves. Bipolar electrodes were surgically implanted into their ulnar and median RPNIs and into their residual innervated muscles. The implanted electrodes recorded local electromyography (EMG) with Signal-to-Noise Ratios ranging from 23 to 350 measured across various movements. In a series of single-day experiments, participants used a high speed pattern recognition system to control a virtual prosthetic hand in real-time. Both participants were able to transition between 10 pseudo-randomly cued individual finger and wrist postures in the virtual environment with an average online accuracy of 86.5% and latency of 255 ms. When the set was reduced to five grasp postures, average metrics improved to 97.9% online accuracy and 135 ms latency. Virtual task performance remained stable across untrained static arm positions while supporting the weight of the prosthesis. Participants also used the high speed classifier to switch between robotic prosthetic grips and complete a functional performance assessment. These results demonstrate that pattern recognition systems can use the high-quality EMG afforded by intramuscular electrodes and RPNIs to provide users with fast and accurate grasp control. SUMMARY Surgically implanted electrodes recorded finger-specific electromyography enabling reliable finger and grasp control of an upper limb prosthesis.
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