scholarly journals A closed-loop hand prosthesis with simultaneous intraneural tactile and position feedback

2018 ◽  
Author(s):  
Edoardo D’Anna ◽  
Giacomo Valle ◽  
Alberto Mazzoni ◽  
Ivo Strauss ◽  
Francesco Iberite ◽  
...  
Keyword(s):  
Upper Limb ◽  
Visual Cues ◽  
Tactile Feedback ◽  
Sensory Substitution ◽  
Position Information ◽  
Implanted Electrodes ◽  
Myoelectric Prostheses ◽  
Position Feedback ◽  
The Rich ◽  
Improved Function

Current myoelectric prostheses allow upper-limb amputees to regain voluntary motor control of their artificial limb by exploiting residual muscle function in the forearm1. However, the over-reliance on visual cues resulting from a lack of sensory feedback is a common complaint2,3. Recently, several groups have provided tactile feedback in upper-limb amputees by using implanted electrodes4,5,6,7,8, surface nerve stimulation9,10 or sensory substitution11,12. These approaches have led to improved function and prosthesis embodiment4,5,6,7,13,14. Nevertheless, the provided information remains limited to a subset of the rich sensory cues available to healthy individuals. More specifically, proprioception, the sense of limb position and movement, is predominantly absent from current systems. Here we show that sensory substitution based on intraneural stimulation can deliver position feedback in real-time and in conjunction with somatotopic tactile feedback. This approach allowed two trans-radial amputees to regain high and close-to-natural remapped proprioceptive acuity, with a median joint angle reproduction accuracy of 9.1° and a median threshold to detection of passive movements of 9.5°, which was compatible with results obtained in healthy subjects15,16,17. The simultaneous delivery of position information and somatotopic tactile feedback allowed both amputees to discriminate object size and compliance with high levels of accuracy (75.5%). These results demonstrate that touch information delivered via somatotopic neural stimulation and position information delivered via sensory substitution can be exploited simultaneously and efficiently by trans-radial amputees. This study paves the way towards more sophisticated bidirectional bionic limbs conveying rich, multimodal sensations.

scholarly journals A closed-loop hand prosthesis with simultaneous intraneural tactile and position feedback

2019 ◽  
Vol 4 (27) ◽  
pp. eaau8892 ◽  
Author(s):  
Edoardo D’Anna ◽  
Giacomo Valle ◽  
Alberto Mazzoni ◽  
Ivo Strauss ◽  
Francesco Iberite ◽  
...  
Keyword(s):  
Visual Cues ◽  
Tactile Feedback ◽  
Sensory Substitution ◽  
Tactile Information ◽  
Position Information ◽  
Implanted Electrodes ◽  
Myoelectric Prostheses ◽  
Position Feedback ◽  
The Rich ◽  
Improved Function

Current myoelectric prostheses allow transradial amputees to regain voluntary motor control of their artificial limb by exploiting residual muscle function in the forearm. However, the overreliance on visual cues resulting from a lack of sensory feedback is a common complaint. Recently, several groups have provided tactile feedback in upper limb amputees using implanted electrodes, surface nerve stimulation, or sensory substitution. These approaches have led to improved function and prosthesis embodiment. Nevertheless, the provided information remains limited to a subset of the rich sensory cues available to healthy individuals. More specifically, proprioception, the sense of limb position and movement, is predominantly absent from current systems. Here, we show that sensory substitution based on intraneural stimulation can deliver position feedback in real time and in conjunction with somatotopic tactile feedback. This approach allowed two transradial amputees to regain high and close-to-natural remapped proprioceptive acuity, with a median joint angle reproduction precision of 9.1° and a median threshold to detection of passive movements of 9.5°, which was comparable with results obtained in healthy participants. The simultaneous delivery of position information and somatotopic tactile feedback allowed both amputees to discriminate the size and compliance of four objects with high levels of performance (75.5%). These results demonstrate that tactile information delivered via somatotopic neural stimulation and position information delivered via sensory substitution can be exploited simultaneously and efficiently by transradial amputees. This study paves a way to more sophisticated bidirectional bionic limbs conveying richer, multimodal sensations.

Sensory Substitution for Tactile Feedback in Upper Limb Prostheses

2021 ◽  
Author(s):  
Yasser Abdelrahman ◽  
Michael Bennington ◽  
Jessica Huberts ◽  
Samira Sebt ◽  
Nipun Talwar ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tactile Feedback ◽  
Sensory Substitution ◽  
Upper Limb Prostheses

scholarly journals Sensory Feedback in Upper Limb Prostheses

2020 ◽  
Vol 74 (5) ◽  
pp. 308-317
Author(s):  
Dace Dimante ◽  
Ināra Logina ◽  
Marco Sinisi ◽  
Angelika Krūmiņa
Keyword(s):  
Upper Limb ◽  
Visual Cues ◽  
Sensory Feedback ◽  
Movement Control ◽  
Major Step ◽  
Robotic Arms ◽  
Socioeconomic Groups ◽  
Myoelectric Prostheses ◽  
Non Invasive ◽  
Upper Limb Prostheses

Abstract Loss of an arm is a devastating condition that can cross all socioeconomic groups. A major step forward in rehabilitation of amputees has been the development of myoelectric prostheses. Current robotic arms allow voluntary movements by using residual muscle contraction. However, a significant issue is lack of movement control and sensory feedback. These factors play an important role in integration and embodiment of a robotic arm. Without feedback, users rely on visual cues and experience overwhelming cognitive demand that results in poorer use of a prosthesis. The complexity of the afferent system presents a great challenge of creating a closed-loop hand prosthesis. Several groups have shown progress providing sensory feedback for upper limb amputees using robotic arms. Feedback, although still limited, is achieved through direct implantation of intraneural electrodes as well as through non-invasive methods. Moreover, evidence shows that over time some amputees develop a phantom sensation of the missing limb on their stump. This phenomenon can occur spontaneously as well as after non-invasive nerve stimulation, suggesting the possibility of recreating a sensory homunculus of the hand on the stump. Furthermore, virtual reality simulation in combination with mechanical stimulation of skin could augment the sensation phenomenon, leading to better interface between human and robotic arms.

scholarly journals Evaluation of Optimal Vibrotactile Feedback for Force-Controlled Upper Limb Myoelectric Prostheses

Sensors ◽  
2019 ◽  
Vol 19 (23) ◽  
pp. 5209 ◽  
Author(s):  
Andrea Gonzalez-Rodriguez ◽  
Jose L. Ramon ◽  
Vicente Morell ◽  
Gabriel J. Garcia ◽  
Jorge Pomares ◽  
...  
Keyword(s):  
Real Time ◽  
Upper Limb ◽  
Closed Loop ◽  
Fine Tuning ◽  
Vibrotactile Feedback ◽  
Loop Control ◽  
Myoelectric Prostheses ◽  
Amplitude Level ◽  
Real Time Application ◽  
Selection Of

The main goal of this study is to evaluate how to optimally select the best vibrotactile pattern to be used in a closed loop control of upper limb myoelectric prostheses as a feedback of the exerted force. To that end, we assessed both the selection of actuation patterns and the effects of the selection of frequency and amplitude parameters to discriminate between different feedback levels. A single vibrotactile actuator has been used to deliver the vibrations to subjects participating in the experiments. The results show no difference between pattern shapes in terms of feedback perception. Similarly, changes in amplitude level do not reflect significant improvement compared to changes in frequency. However, decreasing the number of feedback levels increases the accuracy of feedback perception and subject-specific variations are high for particular participants, showing that a fine-tuning of the parameters is necessary in a real-time application to upper limb prosthetics. In future works, the effects of training, location, and number of actuators will be assessed. This optimized selection will be tested in a real-time proportional myocontrol of a prosthetic hand.

scholarly journals Characterising Upper Limb Movements in Huntington's Disease and the Impact of Restricted Visual Cues

PLoS ONE ◽  
2015 ◽  
Vol 10 (8) ◽  
pp. e0133709 ◽  
Author(s):  
Jessica Despard ◽  
Anne-Marie Ternes ◽  
Bleydy Dimech-Betancourt ◽  
Govinda Poudel ◽  
Andrew Churchyard ◽  
...  
Keyword(s):  
Huntington's Disease ◽  
Huntington’S Disease ◽  
Upper Limb ◽  
Visual Cues ◽  
Limb Movements ◽  
Upper Limb Movements ◽  
The Impact

scholarly journals Design of Embedded System for Multivariate Classification of Finger and Thumb Movements Using EEG Signals for Control of Upper Limb Prosthesis

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Nasir Rashid ◽  
Javaid Iqbal ◽  
Amna Javed ◽  
Mohsin I. Tiwana ◽  
Umar Shahbaz Khan
Keyword(s):  
Logistic Regression ◽  
Embedded System ◽  
Upper Limb ◽  
Classification Accuracy ◽  
Eeg Signals ◽  
Data Set ◽  
Implanted Electrodes ◽  
Movement Data ◽  
Upper Limb Prosthesis ◽  
Limb Prosthesis

Brain Computer Interface (BCI) determines the intent of the user from a variety of electrophysiological signals. These signals, Slow Cortical Potentials, are recorded from scalp, and cortical neuronal activity is recorded by implanted electrodes. This paper is focused on design of an embedded system that is used to control the finger movements of an upper limb prosthesis using Electroencephalogram (EEG) signals. This is a follow-up of our previous research which explored the best method to classify three movements of fingers (thumb movement, index finger movement, and first movement). Two-stage logistic regression classifier exhibited the highest classification accuracy while Power Spectral Density (PSD) was used as a feature of the filtered signal. The EEG signal data set was recorded using a 14-channel electrode headset (a noninvasive BCI system) from right-handed, neurologically intact volunteers. Mu (commonly known as alpha waves) and Beta Rhythms (8–30 Hz) containing most of the movement data were retained through filtering using “Arduino Uno” microcontroller followed by 2-stage logistic regression to obtain a mean classification accuracy of 70%.

Design and slip prevention control of a multi-sensory anthropomorphic prosthetic hand

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Bo Zeng ◽  
Hongwei Liu ◽  
Hongzhou Song ◽  
Zhe Zhao ◽  
Shaowei Fan ◽  
...  
Keyword(s):  
Real Time ◽  
Upper Limb ◽  
Tactile Feedback ◽  
Prosthetic Hand ◽  
Discrete Wavelet ◽  
Accuracy Rate ◽  
Content Type ◽  
Grasp Stability ◽  
Grasp Force ◽  
Slip Detection

Purpose The purpose of this paper is to design a multi-sensory anthropomorphic prosthetic hand and a grasping controller that can detect the slip and automatically adjust the grasping force to prevent the slip. Design/methodology/approach To improve the dexterity, sensing, controllability and practicability of a prosthetic hand, a modular and multi-sensory prosthetic hand was presented. In addition, a slip prevention control based on the tactile feedback was proposed to improve the grasp stability. The proposed controller identifies slippages through detecting the high-frequency vibration signal at the sliding surface in real time and the discrete wavelet transform (DWT) was used to extract the eigenvalues to identify slippages. Once the slip is detected, a direct-feedback method of adjusting the grasp force related with the sliding times was used to prevent it. Furthermore, the stiffness of different objects was estimated and used to improve the grasp force control. The performances of the stiffness estimation, slip detection and slip control are experimentally evaluated. Findings It was found from the experiment of stiffness estimation that the accuracy rate of identification of the hard metal bottle could reach to 90%, while the accuracy rate of identification of the plastic bottles could reach to 80%. There was a small misjudgment rate in the identification of hard and soft plastic bottles. The stiffness of soft plastic bottles, hard plastic bottles and metal bottles were 0.64 N/mm, 1.36 N/mm and 32.55 N/mm, respectively. The results of slip detection and control show that the proposed prosthetic hand with a slip prevention controller can fast and effectively detect and prevent the slip for different disturbances, which has a certain application prospect. Practical implications Due to the small size, low weight, high integration and modularity, the prosthetic hand is easily applied to upper-limb amputees. Meanwhile, the method of the slip prevention control can be used for upper-limb amputees to complete more tasks stably in daily lives. Originality/value A multi-sensory anthropomorphic prosthetic hand is designed, and a method of stable grasps control based on slip detection by a tactile sensor on the fingertip is proposed. The method combines the stiffness estimation of the object and the real-time slip detection based on DWT with the design of the proportion differentiation robust controller based on a disturbance observer and the force controller to achieve slip prevention and stable grasps. It is verified effectively by the experiments and is easy to be applied to commercial prostheses.

scholarly journals Self-Attention Enhanced Selective Gate with Entity-Aware Embedding for Distantly Supervised Relation Extraction

2020 ◽  
Vol 34 (05) ◽  
pp. 8269-8276
Author(s):  
Yang Li ◽  
Guodong Long ◽  
Tao Shen ◽  
Tianyi Zhou ◽  
Lina Yao ◽  
...  
Keyword(s):  
Selective Attention ◽  
Relation Extraction ◽  
Attention Mechanism ◽  
Position Information ◽  
Distant Supervision ◽  
Gating Mechanism ◽  
The Rich ◽  
Training Examples ◽  
Relation Classification ◽  
Relative Position Information

Distantly supervised relation extraction intrinsically suffers from noisy labels due to the strong assumption of distant supervision. Most prior works adopt a selective attention mechanism over sentences in a bag to denoise from wrongly labeled data, which however could be incompetent when there is only one sentence in a bag. In this paper, we propose a brand-new light-weight neural framework to address the distantly supervised relation extraction problem and alleviate the defects in previous selective attention framework. Specifically, in the proposed framework, 1) we use an entity-aware word embedding method to integrate both relative position information and head/tail entity embeddings, aiming to highlight the essence of entities for this task; 2) we develop a self-attention mechanism to capture the rich contextual dependencies as a complement for local dependencies captured by piecewise CNN; and 3) instead of using selective attention, we design a pooling-equipped gate, which is based on rich contextual representations, as an aggregator to generate bag-level representation for final relation classification. Compared to selective attention, one major advantage of the proposed gating mechanism is that, it performs stably and promisingly even if only one sentence appears in a bag and thus keeps the consistency across all training examples. The experiments on NYT dataset demonstrate that our approach achieves a new state-of-the-art performance in terms of both AUC and top-n precision metrics.

scholarly journals Assistance Robotics and Biosensors 2019

Sensors ◽  
2020 ◽  
Vol 20 (5) ◽  
pp. 1335
Author(s):  
Andrés Úbeda ◽  
Fernando Torres ◽  
Santiago T. Puente
Keyword(s):  
Signal Processing ◽  
Upper Limb ◽  
Lower Limb ◽  
Scientific Progress ◽  
Rehabilitation Robotics ◽  
Assistive Robotics ◽  
Biomedical Signal Processing ◽  
Special Issue ◽  
Biomedical Signal ◽  
Myoelectric Prostheses

This Special Issue is focused on breakthrough developments in the field of assistive and rehabilitation robotics. The selected contributions include current scientific progress from biomedical signal processing and cover applications to myoelectric prostheses, lower-limb and upper-limb exoskeletons and assistive robotics.

scholarly journals Osseointegration amputation prostheses on the upper limbs: methods, prosthetics and rehabilitation

2011 ◽  
Vol 35 (2) ◽  
pp. 190-200 ◽  
Author(s):  
Stewe Jönsson ◽  
Kerstin Caine-Winterberger ◽  
Rickard Brånemark
Keyword(s):  
Quality Of Life ◽  
Upper Limb ◽  
Upper Limbs ◽  
Stable Fixation ◽  
Prosthetic Fitting ◽  
Improved Function ◽  
Second Procedure ◽  
Rehabilitation Strategy ◽  
Extremity Amputation

Background: The osseointegration programme for upper extremity amputation started in Sweden in 1990, when a titanium fixture was first implanted into a thumb. This method has since been used for transhumeral and below-elbow amputation. The treatment involves two surgical procedures. During the first a titanium fixture is surgically attached to the skeleton, and a second procedure six months later involves a skin penetrating abutment to which the prosthesis is attached.Objectives: To describe the osseointegration procedure for surgery, prosthetics and rehabilitation.Methods: Patients with short stumps and previous problems with prosthetic fitting were selected. From 1990 to April 2010, 37 upper limb cases were treated and fitted with prosthesis: 10 thumbs, 1 partial hand, 10 transradial and 16 transhumeral amputations. Of these, 7 patients are currently not prosthetic users.Results: Patients indicated that function and quality of life had improved since osseointegration.Conclusion: Osseointegration is an important platform for present and future prosthetic technology. The prosthetic situation is improved due to the stable fixation, freedom of motion and functionality.Clinical relevance The two-stage osseointegration procedure has the potential to change the rehabilitation strategy for selected upper limb amputees. The method eliminates the need for a socket and the prosthesis will always fit. The stable prosthetic fixation and increased freedom of motion generates improved function. Specially designed components and rehabilitation procedures have been developed.

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