The perceptual properties of electrocutaneous stimulation: sensory quality, subjective intensity, and intensity-duration relation

Conductive block copolymer elastomers and psychophysical thresholding for accurate haptic effects

Electrotactile stimulus is a form of sensory substitution in which an electrical signal is perceived as a mechanical sensation. The electrotactile effect could, in principle, recapitulate a range of tactile experience by selective activation of nerve endings. However, the method has been plagued by inconsistency, galvanic reactions, pain and desensitization, and unwanted stimulation of nontactile nerves. Here, we describe how a soft conductive block copolymer, a stretchable layout, and concentric electrodes, along with psychophysical thresholding, can circumvent these shortcomings. These purpose-designed materials, device layouts, and calibration techniques make it possible to generate accurate and reproducible sensations across a cohort of 10 human participants and to do so at ultralow currents (≥6 microamperes) without pain or desensitization. This material, form factor, and psychophysical approach could be useful for haptic devices and as a tool for activation of the peripheral nervous system.

On the Effect of High Stimulation Rates on Temporal Loudness Integration in Cochlear Implant Users

Long stimuli have lower detection thresholds or are perceived louder than short stimuli with the same intensity, an effect known as temporal loudness integration (TLI). In electric hearing, TLI for pulse trains with a fixed rate but varying number of pulses, i.e. stimulus duration, has mainly been investigated at clinically used stimulation rates. To study the effect of an overall effective stimulation rate at 100% channel crosstalk, we investigated TLI with (a) a clinically used single-channel stimulation rate of 1,500 pps and (b) a high stimulation rate of 18,000 pps, both for an apical and a basal electrode. Thresholds (THR), a line of equal loudness (BAL), and maximum acceptable levels (MALs) were measured in 10 MED-EL cochlear implant users. Stimulus durations varied from a single pulse to 300 ms long pulse trains. At 18,000 pps, the dynamic range (DR) increased by 7.36 ± 3.16  dB for the 300 ms pulse train. Amplitudes at THR, BAL, and MAL decreased monotonically with increasing stimulus duration. The decline was fitted with high accuracy with a power law function (R 2 = 0.94 ± 0.06 ). Threshold slopes were - 1.05 ± 0.36 and - 1.66 ± 0.30  dB per doubling of duration for the low and high rate, respectively, and were shallower than for acoustic hearing. The electrode location did not affect the amplitudes or slopes of the TLI curves. THR, BAL, and MAL were always lower for the higher rate and the DR was larger at the higher rate at all measured durations.

Electrotactile Perception Properties and Its Applications: A Review

With the increased demands of human-machine interaction, haptic feedback is becoming increasingly critical. However, the high cost, large size and low efficiency of current haptic systems severely hinder further development. As a portable and efficient technology, cutaneous electrotactile stimulation has shown promising potential for these issues. This paper presents a review on and insight into cutaneous electrotactile perception and its applications. Research results on perceptual properties and evaluation methods have been summarized and discussed to understand the effects of electrotactile stimulation on humans. Electrotactile applications are presented in categories to understand the methods and progress in various fields such as prostheses control, sensory substitution, sensory restoration and sensorimotor restoration. State of the art has demonstrated the superiority of electrotactile feedback, its efficiency and its flexibility. However, the complex factors and the limitations of evaluation methods made it challenging for precise electrotactile control. Groundbreaking innovation in electrotactile theory is expected to overcome challenges such as precise perception control, information capacity increasing, comprehension burden reducing and implementation costs.

Perception thresholds and qualitative perceptions for electrocutaneous stimulation

Our long-term goal is the development of a wearable warning system that uses electrocutaneous stimulation. To find appropriate stimulation parameters and electrode configurations, we investigate perception amplitude thresholds and qualitative perceptions of electrocutaneous stimulation for varying pulse widths, electrode sizes, and electrode positions. The upper right arm was stimulated in 81 healthy volunteers with biphasic rectangular current pulses varying between 20 and \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$2000\,\upmu \hbox {s}$$\end{document}2000μs. We determined perception, attention, and intolerance thresholds and the corresponding qualitative perceptions for 8 electrode pairs distributed around the upper arm. For a pulse width of \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$150\,\upmu \hbox {s}$$\end{document}150μs, we find median values of 3.5, 6.9, and 13.8 mA for perception, attention, and intolerance thresholds, respectively. All thresholds decrease with increasing pulse width. Lateral electrode positions have higher intolerance thresholds than medial electrode positions, but perception and attention threshold are not significantly different across electrode positions. Electrode size between \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$15 \times 15\,\hbox {mm}^{2}$$\end{document}15×15mm2 and \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$40\times 40\,\hbox {mm}^{2}$$\end{document}40×40mm2 has no significant influence on the thresholds. Knocking is the prevailing perception for perception and attention thresholds while mostly muscle twitching, pinching, and stinging are reported at the intolerance threshold. Biphasic stimulation pulse widths between \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$150\,\upmu \hbox {s}$$\end{document}150μs and \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$250\,\upmu \hbox {s}$$\end{document}250μs are suitable for electric warning wearables. Within the given practical limits at the upper arm, electrode size, inter-electrode distance, and electrode position are flexible parameters of electric warning wearables. Our investigations provide the basis for electric warning wearables.

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.

Frequency Shapes the Quality of Tactile Percepts Evoked through Electrical Stimulation of the Nerves

Electrical stimulation of the peripheral nerves of human participants provides a unique opportunity to study the neural determinants of perceptual quality using a causal manipulation. A major challenge in the study of neural coding of touch has been to isolate the role of spike timing-at the scale of milliseconds or tens of milliseconds-in shaping the sensory experience. In the present study, we address this question by systematically varying the pulse frequency (PF) of electrical stimulation pulse trains delivered to the peripheral nerves of seven participants with upper and lower extremity limb loss via chronically implanted neural interfaces. We find that increases in PF lead to systematic increases in perceived frequency, up to ∼50 Hz, at which point further changes in PF have little to no impact on sensory quality. Above this transition frequency, ratings of perceived frequency level off, the ability to discriminate changes in PF is abolished, and verbal descriptors selected to characterize the sensation change abruptly. We conclude that sensation quality is shaped by temporal patterns of neural activation, even if these patterns are imposed on a fixed neural population, but this temporal patterning can only be resolved up to ∼50 Hz. These findings highlight the importance of spike timing in shaping the quality of a sensation and will contribute to the development of encoding strategies for conveying touch feedback through bionic hands and feet.SIGNIFICANCE STATEMENT A major challenge in the study of neural coding of touch has been to understand how temporal patterns in neuronal responses shape the sensory experience. We address this question by varying the pulse frequency (PF) of electrical pulse trains delivered through implanted nerve interfaces in seven amputees. We concomitantly vary pulse width to separate the effect of changing PF on sensory quality from its effect on perceived magnitude. We find that increases in PF lead to increases in perceived frequency, a qualitative dimension, up to ∼50 Hz, beyond which changes in PF have little impact on quality. We conclude that temporal patterning in the neuronal response can shape quality and discuss the implications for restoring touch via neural interfaces.

Engaging endogenous opioid circuits in pain affective processes

The pervasive use of opioid compounds for pain relief is rooted in their utility as one of the most effective therapeutic strategies for providing analgesia. While the detrimental side effects of these compounds have significantly contributed to the current opioid epidemic, opioids still provide millions of patients with reprieve from the relentless and agonizing experience of pain. The human experience of pain has long recognized the perceived unpleasantness entangled with a unique sensation that is immediate and identifiable from the first-person subjective vantage point as "painful." From this phenomenological perspective, how is it that opioids interfere with pain perception? Evidence from human lesion, neuroimaging, and preclinical functional neuroanatomy approaches is sculpting the view that opioids predominately alleviate the affective or inferential appraisal of nociceptive neural information. Thus, opioids weaken pain-associated unpleasantness rather than modulate perceived sensory qualities. Here, we discuss the historical theories of pain to demonstrate how modern neuroscience is revisiting these ideas to deconstruct the brain mechanisms driving the emergence of aversive pain perceptions. We further detail how targeting opioidergic signaling within affective or emotional brain circuits remains a strong avenue for developing targeted pharmacological and gene-therapy analgesic treatments that might reduce the dependence on current clinical opioid options.

Electrotactile and Vibrotactile Feedback Enable Similar Performance in Psychometric Tests and Closed-Loop Control

Electro- and vibro-tactile stimulation are commonly employed for feedback in closed-loop human-machine interfacing. Although these feedback systems have been extensively investigated individually, they are rarely objectively compared. In this study, two state-of-the-art stimulation units (concentric electrode and C2-tactor) similar in shape and size were compared in psychometric and online control tests. The just noticeable difference and number of discriminable levels for intensity and frequency modulation were determined across values of carrier frequency and intensity, respectively. Next, subjects performed a compensatory tracking task, in which the feedback encoded the momentary tracking error. In the psychometric tests, intensity modulation outperformed frequency modulation and electrotactile stimulation enabled significantly higher resolution than vibrotactile stimulation, for the same carrier frequency. However, for the best-case settings (eletro-tactile: 100 Hz; vibro-tactile: 200 Hz), the two stimulation modalities were equivalent in the psychometric tests and in the online control tests, where the two stimulation methods resulted in similar correlation and deviation between the target and the generated trajectory. Time delay was slightly but significantly lower for the vibrotactile modality. Overall, the present assessment shows that despite psychometric differences between the two stimulation methods, they enable similar online control performance when parameters are optimally selected for each modality.

An amygdalar neural ensemble that encodes the unpleasantness of pain

Pain is an unpleasant experience. How the brain’s affective neural circuits attribute this aversive quality to nociceptive information remains unknown. By means of time-lapse in vivo calcium imaging and neural activity manipulation in freely behaving mice encountering noxious stimuli, we identified a distinct neural ensemble in the basolateral amygdala that encodes the negative affective valence of pain. Silencing this nociceptive ensemble alleviated pain affective-motivational behaviors without altering the detection of noxious stimuli, withdrawal reflexes, anxiety, or reward. Following peripheral nerve injury, innocuous stimuli activated this nociceptive ensemble to drive dysfunctional perceptual changes associated with neuropathic pain, including pain aversion to light touch (allodynia). These results identify the amygdalar representations of noxious stimuli that are functionally required for the negative affective qualities of acute and chronic pain perception.

Electro-tactile stimulation of the posterior neck induces body anteropulsion during upright stance

Sensory information conveyed along afferent fibers from muscle and joint proprioceptors play an important role in the control of posture and gait in humans. In particular, proprioceptive information from the neck is fundamental in supplying the central nervous system with information about the orientation and movement of the head relative to the rest of the body. The previous studies have confirmed that proprioceptive afferences originating from the neck region, evoked via muscle vibration, lead to strong body-orienting effects during static conditions (e.g., leaning of the body forwards or backwards, depending on location of vibration). However, it is not yet certain in humans, whether the somatosensory receptors located in the deep skin (cutaneous mechanoreceptors) have a substantive contribution to postural control, as vibratory stimulation encompasses the receptive field of all the somatosensory receptors from the skin to the muscles. The aim of this study was to investigate the postural effect of cutaneous mechanoreceptor afferences using electro-tactile stimulation applied to the neck. Ten healthy volunteers (8M, 2F) were evaluated. The average position of their centre of foot pressure (CoP) was acquired before, during, and after a subtle electro-tactile stimulation over their posterior neck (mean ± SD = 5.1 ± 2.3 mA at 100 Hz—140% of the perception threshold) during upright stance with their eyes closed. The electro-tactile stimulation led to a body-orienting effect with the subjects consistently leaning forward. An average shift of the CoP of 12.1 ± 11.9 mm (mean ± SD) was reported, which significantly (p < 0.05) differed from its average position under a control condition (no stimulation). These results indicate that cutaneous mechanoreceptive inflow from the neck is integrated to control stance. The findings are relevant for the exploitation of electro-tactile stimulation for rehabilitation interventions where induced anteropulsion of the body is desired.

Interaction of Perceived Frequency and Intensity in Fingertip Electrotactile Stimulation: Dissimilarity Ratings and Multidimensional Scaling

Sensations elicited by electrical stimulation of touch are multidimensional, varying in perceived intensity and quality in response to changes in stimulus current or waveform timing. This paper manipulated both current and frequency, while volunteer participants estimated the dissimilarity of all non-identical pairs of 16 stimulus conditions. Multidimensional scaling analysis revealed that a model having two perceptual dimensions was adequate in representing the electrotactile (electrocutaneous) sensations. The two dimensions were identified as perceptual frequency and intensity, and were strongly correlated with the two stimulus variables, frequency and current, although not in a 1:1 correspondence. Perception of frequency differences increased monotonically with stimulus intensity, which is consistent with other human sensory systems, such as hearing and vision. Our results are consistent with previously-reported research using a different methodology and cutaneous locus. Congruence across different methods and laboratories suggests similar underlying perceptual mechanisms.

A System for Electrotactile Feedback Using Electronic Skin and Flexible Matrix Electrodes: Experimental Evaluation

Myoelectric prostheses are successfully controlled using muscle electrical activity, thereby restoring lost motor functions. However, the somatosensory feedback from the prosthesis to the user is still missing. The sensory substitution methods described in the literature comprise mostly simple position and force sensors combined with discrete stimulation units. The present study describes a novel system for sophisticated electrotactile feedback integrating advanced distributed sensing (electronic skin) and stimulation (matrix electrodes). The system was tested in eight healthy subjects who were asked to recognize the shape, trajectory, and direction of a set of dynamic movement patterns (single lines, geometrical objects, letters) presented on the electronic skin. The experiments demonstrated that the system successfully translated the mechanical interaction into the moving electrotactile profiles, which the subjects could recognize with a good performance (shape recognition: 86±8% lines, 73±13% geometries, 72±12% letters). In particular, the subjects could identify the movement direction with a high confidence. These results are in accordance with previous studies investigating the recognition of moving stimuli in human subjects. This is an important development towards closed-loop prostheses providing comprehensive and sophisticated tactile feedback to the user, facilitating the control and the embodiment of the artificial device into the user body scheme.

HyVE: hybrid vibro-electrotactile stimulation for sensory feedback and substitution in rehabilitation

Electro- or vibro-tactile stimulations were used in the past to provide sensory information in many different applications ranging from human manual control to prosthetics. The two modalities were used separately in the past, and we hypothesized that a hybrid vibro-electrotactile (HyVE) stimulation could provide two afferent streams that are independently perceived by a subject, although delivered in parallel and through the same skin location. We conducted psychophysical experiments where healthy subjects were asked to recognize the intensities of electroand vibro-tactile stimuli during hybrid and single modality stimulations. The results demonstrated that the subjects were able to discriminate the features of the two modalities within the hybrid stimulus, and that the cross-modality interaction was limited enough to allow better transmission of discrete information (messages) using hybrid versus singlemodality coding. The percentages of successful recognitions (mean ± standard deviation) for nine messages were 56 ± 11 % and 72 ± 8 % for two hybrid coding schemes, compared to 29 ±7 % for vibrotactile and 44 ± 4 % for electrotactile coding. The HyVE can be therefore an attractivesolution in numerous application for providing sensory feedbackin prostheses and rehabilitation, and it could be used to increase the resolution of a single variable or to simultaneously feedback two different variables.

Electrotactile stimulation on the tongue: Intensity perception, discrimination, and cross-modality estimation

Due to its high sensitivity and conductivity, electrotactile stimulation (ETS) on the tongue has proven to be a useful and technically convenient tool to substitute and/or augment sensory capabilities. However, most of its applications have only provided spatial attributes and little is known about (a) the ability of the tongue's sensory system to process electrical stimuli of varying magnitudes and (b) how modulation of ETS intensity affects subjects' ability to decode stimulus intensity. We addressed these questions by quantifying: (1) the magnitude of the dynamic range (DR; maximal comfortable intensity/perception threshold) and its sensitivity to prolonged exposure; (2) subjects' ability to perceive intensity changes; and (3) subjects' ability to associate intensity with angular excursions of a protractor's handle. We found that the average DR (17 dB) was generally large in comparison with other tactile loci and of a relatively constant magnitude among subjects, even after prolonged exposure, despite a slight but significant upward drift (p < 0.001). Additionally, our results showed that as stimulus intensity increased, subjects' ability to discriminate ETS stimuli of different intensities improved (p < 0.05) while estimation accuracy, in general, slightly decreased (increasing underestimation). These results suggest that higher ETS intensity may increase recruitment of rapidly adapting mechanoreceptor fibers, as these are specialized for coding stimulus differences rather than absolute intensities. Furthermore, our study revealed that the tongue's sensory system can effectively convey electrical stimuli despite minimal practice and when information transfer is limited by memory and DR drift.

Single-parameter power law psychophysics of auditory numerosity and the psychological moment hypothesis

In the present study, numerosity estimation was investigated. A two-parameter Stevens power law analysis was performed on a total of 944 subjects in six experiments. Two pulse ranges (2-17 or 17-253 pulses) and six pulse rates (either constant or randomly varied within trial blocks) were used, variously, in an unsuccessful attempt to find evidence for a psychological moment, under the supposition that the exponent (or, possibly, the measure constant) would become smaller as increasing numbers of pulses fell within the interval determined by each psychological moment. A single-parameter reanalysis of these six experiments under the initial value condition that a (standard) stimulus of one pulse be assigned a theoretical response (modulus) of one yielded single-parameter equations whose exponents were reliably less varied than those for conventional two-parameter equations in Experiments 1-4 (with randomly varying pulse rates from trial to trial) but not less varied in Experiments 5 and 6 (in which pulse rates were constant within trial blocks). It was concluded that the variable pulse rate condition, with its reduced exponent variability and presumed reduced temporal confounding, provides a more valid estimate of the single-parameter power law exponent for numerosity, which was found to be 0.80.

Electrotactile and vibrotactile displays for sensory substitution systems

Sensory substitution systems provide their users with environmental information through a human sensory channel (eye, ear, or skin) different from that normally used, or with the information processed in some useful way. We review the methods used to present visual, auditory, and modified tactile information to the skin. First, we discuss present and potential future applications of sensory substitution, including tactile vision substitution (TVS), tactile auditory substitution, and remote tactile sensing or feedback (teletouch). Next, we review the relevant sensory physiology of the skin, including both the mechanisms of normal touch and the mechanisms and sensations associated with electrical stimulation of the skin using surface electrodes (electrotactile (also called electrocutaneous) stimulation). We briefly summarize the information-processing ability of the tactile sense and its relevance to sensory substitution. Finally, we discuss the limitations of current tactile display technologies and suggest areas requiring further research for sensory substitution systems to become more practical.

Magnitude estimates for electrical pulses: evidence for two neural mechanisms

The hypothesis that there are two neural mechanisms for electrocutaneous stimulation--one that is sensitive to low current and is adaptive to repeated stimulation and another that is responsive to high current and is less adaptive--was tested in a control and four main experiments. In the main experiments, magnitude estimates obtained for single electrical pulses (of 2-msec duration) were described by a simple power function for each combination of high- and low-current levels and 10 trial blocks. The results were: (1) The slope of the power function for low current was steeper than was that for high current; (2) for low current, the intercept of the power function decreased with increasing block, whereas for high current, it remained constant over blocks; (3) this decrease of the intercept for low current disappeared when judgmental blocks were separated by a rest period of 8 min; (4) the modulus did not affect the slope; (5) for a large modulus combined with low current, the intercept decreased rapidly over trial blocks, whereas for a small modulus combined with high current, the intercept increased over trial blocks. The first four findings support the two-mechanism hypothesis, but the last one may also be interpretable in terms of the regression to absolute scale values.

An experimental basis for revising the graphic rating scale for pain

Seven subjects judged the differences between electrocutaneous shocks and words from two category rating lists describing those sensations in each of two differences estimation experiments. The electrocutaneous shocks used for the two experiments were 10 suprathreshold shock intensities determined separately for each subject. There were two distinct 7-word category rating lists. Both lists shared 6 common words; however, the seventh word made the rational ordering of the two lists different. Magnitude scales of meaning for the category rating words and sensory scales for the electrocutaneous shock intensities were determined for each of the two experiments for each subject using conjoint measurement analysis. Comparisons of the sensory scales for electrocutaneous shock between the two difference estimation experiments for each subject showed that they judged the electrocutaneous shocks similarly with the two words lists. This allowed for comparisons between the scales of meaning for the words from the category rating lists. The two word lists were not equivalent. There was substantial agreement among the subjects on characteristic spacings of quantitative values for the category rating items. These results suggest that clinical ratings scales used for analgesimetry should not assume homogeneity of spacing of category items. A scale incorporating our subjects' common understanding is presented.