Able-bodied Participants Research Articles

Effects of Electrode Position Targeting in Noninvasive Electromyography Technologies for Finger and Hand Movement Prediction

PurposeStroke patients may need to undergo rehabilitation therapy to improve their mobility. Electromyography (EMG) can be used to improve the effectiveness of at-home therapy programs, as it can assess recovery progress in the absence of a health professional. In particular, EMG armbands have the advantage of being easy to use compared to other EMG technologies, which could allow patients to complete therapy programs without external assistance. However, it is unclear whether there are drawbacks associated with the fixed electrode placement imposed by current armband designs. This study compared the hand gesture prediction capabilities of an off-the-shelf EMG armband with fixed electrode placement and an EMG setup with flexible electrode positioning.MethodsTen able-bodied participants performed a series of hand and finger gestures with their dominant hand, once with an EMG armband (Untargeted condition) and once with electrodes deliberately placed on specific muscles (Targeted condition). EMG features were extracted from overlapping sliding windows and were used to (1) classify the gestures and (2) predict finger joint positions as measured by a robotic hand exoskeleton.ResultsFor the classification task, a logistic regression model performed significantly better (p < 0.001) for the Targeted condition (55.8% pm 10.1%) compared to the Untargeted condition (47.9% pm 11.6%). For the regression task, a k-nearest neighbours model obtained significantly lower (p = 0.007) mean RMSE values for the Targeted condition (0.260 pm 0.037) compared to the Untargeted condition (0.270 pm 0.043).ConclusionWe observed a trade-off between predictive accuracy and ease-of-use of the EMG devices used in this study. It is important to consider such a trade-off when developing clinical applications such as at-home stroke rehabilitation therapy programs.

VIBES: Vibro-Inertial Bionic Enhancement System in a Prosthetic Socket.

The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first contact) arising from the interaction of the prosthetic device with external items. This study describes a wearable vibrotactile system for high-frequency tactile information embedded in the prosthetic socket. The device consists of two compact planar vibrotactile actuators in direct contact with the user's skin to transmit tactile cues. These stimuli are directly related to the acceleration profiles recorded with two IMUS placed on the distal phalanx of a soft under-actuated robotic prosthesis (Soft-Hand Pro). We characterized the system from a psychophysical point of view with fifteen able-bodied participants by computing participants' Just Noticeable Difference (JND) related to the discrimination of vibrotactile cues delivered on the index finger, which are associated with the exploration of different sandpapers. Moreover, we performed a pilot experiment with one SoftHand Pro prosthesis user by designing a task, i.e. Active Texture Identification, to investigate if our feedback could enhance users' roughness discrimination. Results indicate that the device can effectively convey contact and texture cues, which users can readily detect and distinguish.

A novel approach for quantitative imaging of the seated anatomy of the buttocks using ultrasound and MRI

Background: Pressure injuries are commonly noted in individuals who use wheelchairs for mobility and sit for prolonged periods. Understanding soft tissue composition is an essential part of treating and preventing pressure injuries. This study proposes novel approaches for imaging the soft tissue of the buttocks in unloaded and loaded conditions using ultrasound (US) and magnetic resonance imaging (MRI).Methods: The soft tissue of the buttocks was measured in able-bodied participants (n = 26, 50% female) and one male with a spinal cord injury using an innovative chair that allowed seated US acquisition of the buttocks and a newly developed MRI compatible loader. The US test–retest reliability (reproducibility) of buttocks soft tissue was assessed, and US was validated with MRI. Soft tissue was measured between the peak of the ischial tuberosity (IT) and proximal femur and the skin. MRI was used to quantify the fat fraction of the gluteus maximus muscle, with the goal of determining the influence of intramuscular fat on loaded soft tissue responses and was used to assess tissue thickness during buttocks loading.Results: US reproducibility was excellent, ICC = 0.934–0.981, with no statistical differences between scan days. Coefficients of variation (CVs) between visits ranged from 2.5% to 7.4% for loaded and unloaded tissue. US and MRI measures of tissue thickness were significantly correlated (r = 0.68–0.91, p ≤ 0.001). US underestimated the unloaded tissue thicknesses, with a mean bias of 0.39–0.56 cm. When the buttocks were loaded, US- and MRI-measured total tissue thickness was reduced by up to 64.2% ± 9.1% (p &amp;lt; 0.001). The US- and MRI-unloaded total soft tissue of the IT was correlated with loaded tissue thickness (r = 0.54–0.67, p ≤ 0.027). Intramuscular fat of the gluteus maximus was not correlated to changes in muscle thickness with loading (r = 0.05, p &amp;gt; 0.05).Conclusion: We have developed and validated a novel US methodology using MRI as a comparison measure to investigate soft tissue anatomy and deformation during sitting and loading. The ability to obtain such data in the loaded condition is unique and fills an unmet need in understanding loading and pressure injury formation.

The rubber hand illusion evaluated using different stimulation modalities.

Tactile feedback plays a vital role in inducing ownership and improving motor control of prosthetic hands. However, commercially available prosthetic hands typically do not provide tactile feedback and because of that the prosthetic user must rely on visual input to adjust the grip. The classical rubber hand illusion (RHI) where a brush is stroking the rubber hand, and the user's hidden hand synchronously can induce ownership of a rubber hand. In the classic RHI the stimulation is modality-matched, meaning that the stimulus on the real hand matches the stimulus on the rubber hand. The RHI has also been used in previous studies with a prosthetic hand as the "rubber hand," suggesting that a hand prosthesis can be incorporated within the amputee's body scheme. Interestingly, previous studies have shown that stimulation with a mismatched modality, where the rubber hand was brushed, and vibrations were felt on the hidden hand also induced the RHI. The aim of this study was to compare how well mechanotactile, vibrotactile, and electrotactile feedback induced the RHI in able-bodied participants and forearm amputees. 27 participants with intact hands and three transradial amputees took part in a modified RHI experiment. The rubber hand was stroked with a brush, and the participant's hidden hand/residual limb received stimulation with either brush stroking, electricity, pressure, or vibration. The three latter stimulations were modality mismatched with regard to the brushstroke. Participants were tested for ten different combinations (stimulation blocks) where the stimulations were applied on the volar (glabrous skin), and dorsal (hairy skin) sides of the hand. Outcome was assessed using two standard tests (questionnaire and proprioceptive drift). All types of stimulation induced RHI but electrical and vibration stimulation induced a stronger RHI than pressure. After completing more stimulation blocks, the proprioceptive drift test showed that the difference between pre- and post-test was reduced. This indicates that the illusion was drifting toward the rubber hand further into the session.

EMG feedback improves grasping of compliant objects using a myoelectric prosthesis

BackgroundClosing the control loop in myoelectric prostheses by providing artificial somatosensory feedback is recognized as an important goal. However, designing a feedback interface that is effective in realistic conditions is still a challenge. Namely, in some situations, feedback can be redundant, as the information it provides can be readily obtained through hearing or vision (e.g., grasping force estimated from the deformation of a compliant object). EMG feedback is a non-invasive method wherein the tactile stimulation conveys to the user the level of their own myoelectric signal, hence a measurement intrinsic to the interface, which cannot be accessed incidentally.MethodsThe present study investigated the efficacy of EMG feedback in prosthesis force control when 10 able-bodied participants and a person with transradial amputation used a myoelectric prosthesis to grasp compliant objects of different stiffness values. The performance with feedback was compared to that achieved when the participants relied solely on incidental cues.ResultsThe main outcome measures were the task success rate and completion time. EMG feedback resulted in significantly higher success rates regardless of pin stiffness, indicating that the feedback enhanced the accuracy of force application despite the abundance of incidental cues. Contrary to expectations, there was no difference in the completion time between the two feedback conditions. Additionally, the data revealed that the participants could produce smoother control signals when they received EMG feedback as well as more consistent commands across trials, signifying better control of the system by the participants.ConclusionsThe results presented in this study further support the efficacy of EMG feedback when closing the prosthesis control loop by demonstrating its benefits in particularly challenging conditions which maximized the utility of intrinsic feedback sources.

The impact of walking on the perception of multichannel electrotactile stimulation in individuals with lower-limb amputation and able-bodied participants

BackgroundOne of the drawbacks of lower-limb prostheses is that they do not provide explicit somatosensory feedback to their users. Electrotactile stimulation is an attractive technology to restore such feedback because it enables compact solutions with multiple stimulation points. This allows stimulating a larger skin area to provide more information concurrently and modulate parameters spatially as well as in amplitude. However, for effective use, electrotactile stimulation needs to be calibrated and it would be convenient to perform this procedure while the subject is seated. However, amplitude and spatial perception can be affected by motion and/or physical coupling between the residual limb and the socket. In the present study, we therefore evaluated and compared the psychometric properties of multichannel electrotactile stimulation applied to the thigh/residual limb during sitting versus walking.MethodsThe comprehensive assessment included the measurement of the sensation and discomfort thresholds (ST & DT), just noticeable difference (JND), number of distinct intervals (NDI), two-point discrimination threshold (2PD), and spatial discrimination performance (SD). The experiment involved 11 able-bodied participants (4 females and 7 males; 29.2 ± 3.8 years), 3 participants with transtibial amputation, and 3 participants with transfemoral amputation.ResultsIn able-bodied participants, the results were consistent for all the measured parameters, and they indicated that both amplitude and spatial perception became worse during walking. More specifically, ST and DT increased significantly during walking vs. sitting (2.90 ± 0.82 mA vs. 2.00 ± 0.52 mA; p < 0.001 for ST and 7.74 ± 0.84 mA vs. 7.21 ± 1.30 mA; p < 0.05 for DT) and likewise for the JND (22.47 ± 12.21% vs. 11.82 ± 5.07%; p < 0.01), while the NDI became lower (6.46 ± 3.47 vs. 11.27 ± 5.18 intervals; p < 0.01). Regarding spatial perception, 2PD was higher during walking (69.78 ± 17.66 mm vs. 57.85 ± 14.87 mm; p < 0.001), while the performance of SD was significantly lower (56.70 ± 10.02% vs. 64.55 ± 9.44%; p < 0.01). For participants with lower-limb amputation, the ST, DT, and performance in the SD assessment followed the trends observed in the able-bodied population. The results for 2PD and JND were however different and subject-specific.ConclusionThe conducted evaluation demonstrates that electrotactile feedback should be calibrated in the conditions in which it will be used (e.g., during walking). The calibration during sitting, while more convenient, might lead to an overly optimistic (or in some cases pessimistic) estimate of sensitivity. In addition, the results underline that calibration is particularly important in people affected by lower-limb loss to capture the substantial variability in the conditions of the residual limb and prosthesis setup. These insights are important for the implementation of artificial sensory feedback in lower-limb prosthetics applications.

Differential effect of heteronymous feedback from femoral nerve and quadriceps muscle stimulation onto soleus H-reflex.

Excitatory feedback from muscle spindles, and inhibitory feedback from Golgi tendon organs and recurrent inhibitory circuits are widely distributed within the spinal cord to modulate activity between human lower limb muscles. Heteronymous feedback is most commonly studied in humans by stimulating peripheral nerves, but the unique effect of non-spindle heteronymous feedback is difficult to determine due to the lower threshold of excitatory spindle axons. A few studies suggest stimulation of the muscle belly preferentially elicits non-spindle heteronymous feedback. However, there remains a lack of consensus on the differential effect of nerve and muscle stimulation onto the H-reflex, and the relation of the heteronymous effects onto H-reflex compared to that onto ongoing EMG has not been determined. In this cross-sectional study, we compared excitatory and inhibitory effects from femoral nerve and quadriceps muscle belly stimulation onto soleus H-reflex size in 15 able-bodied participants and in a subset also compared heteronymous effects onto ongoing soleus EMG at 10% and 20% max. Femoral nerve stimulation elicited greater excitation of the H-reflex compared to quadriceps stimulation. The differential effect was also observed onto ongoing soleus EMG at 20% max but not 10%. Femoral nerve and quadriceps stimulation elicited similar inhibition of the soleus H-reflexes, and these results were better associated with soleus EMG at 20%. The results support surface quadriceps muscles stimulation as a method to preferentially study heteronymous inhibition at least in healthy adults. The primary benefit of using muscle stimulation is expected to be in persons with abnormal, prolonged heteronymous excitation. These data further suggest heteronymous feedback should be evaluated with H-reflex or onto ongoing EMG of at least 20% max to identify group differences or modulation of heteronymous feedback in response to treatment or task.

Real-Life Wheelchair Mobility Metrics from IMUs.

Daily wheelchair ambulation is seen as a risk factor for shoulder problems, which are prevalent in manual wheelchair users. To examine the long-term effect of shoulder load from daily wheelchair ambulation on shoulder problems, quantification is required in real-life settings. In this study, we describe and validate a comprehensive and unobtrusive methodology to derive clinically relevant wheelchair mobility metrics (WCMMs) from inertial measurement systems (IMUs) placed on the wheelchair frame and wheel in real-life settings. The set of WCMMs includes distance covered by the wheelchair, linear velocity of the wheelchair, number and duration of pushes, number and magnitude of turns and inclination of the wheelchair when on a slope. Data are collected from ten able-bodied participants, trained in wheelchair-related activities, who followed a 40 min course over the campus. The IMU-derived WCMMs are validated against accepted reference methods such as Smartwheel and video analysis. Intraclass correlation (ICC) is applied to test the reliability of the IMU method. IMU-derived push duration appeared to be less comparable with Smartwheel estimates, as it measures the effect of all energy applied to the wheelchair (including thorax and upper extremity movements), whereas the Smartwheel only measures forces and torques applied by the hand at the rim. All other WCMMs can be reliably estimated from real-life IMU data, with small errors and high ICCs, which opens the way to further examine real-life behavior in wheelchair ambulation with respect to shoulder loading. Moreover, WCMMs can be applied to other applications, including health tracking for individual interest or in therapy settings.

Differential Corticospinal Excitability and Cortical Functional Connectivity Modulation by Spinal Cord Transcutaneous Stimulation-based Motor Training versus Motor Training alone in Able-bodied and SCI participants: A Multiple Case Study.

Spinal cord transcutaneous stimulation (scTS) has shown its potential for boosting motor, sensory, and autonomic function recovery after a spinal cord injury. Despite the demonstrated benefits, little is known about the exact neuromodulatory mechanisms triggered by scTS and the cortex involvement in the beneficial effects observed. Here, we examine the effects of scTS-based motor training and motor training alone on sensorimotor cortical functional connectivity and corticospinal excitability in able-bodied and SCI participants.Clinical Relevance- The results show preliminary evidence of differential cortical involvement and modulation by scTS-based motor training in uninjured and spinal-cord injured individuals. A better understanding of scTS mechanisms of action could help optimize the intervention design and potentiate its benefits.

Walking ability of individuals fitted with transfemoral bone-anchored prostheses: A comparative study of gait parameters.

This study presents the walking abilities of participants fitted with transfemoral bone-anchored prostheses using a total of 14 gait parameters. Two-centre retrospective cross-sectional comparative study. Research facilities equipped with tridimensional motion capture systems. Two control arms included eight able-bodied participants arm (54 ± 9 years, 1.75 ± 0.07 m, 76 ± 7 kg) and nine participants fitted with transfemoral socket-suspended prostheses arm (59 ± 9 years, 1.73 ± 0.07 m, 80 ± 16 kg). The intervention arm included nine participants fitted with transfemoral bone-anchored prostheses arm (51 ± 13 years, 1.78 ± 0.09 m, 87.3 ± 16.1 kg). Fitting of transfemoral bone-anchored prostheses. Comparisons were performed for two spatio-temporal, three spatial and nine temporal gait parameters. The cadence and speed of walking were 107 ± 6 steps/min and 1.23 ± 0.19 m/s for the able-bodied participants arm, 88 ± 7 steps/min and 0.87 ± 0.17 m/s for the socket-suspended prosthesis arm, and 96 ± 6 steps/min and 1.03 ± 0.17 m/s for bone-anchored prosthesis arm, respectively. Able-bodied participants and bone-anchored prosthesis arms were comparable in age, height, and body mass index as well as cadence and speed of walking, but the able-bodied participant arm showed a swing phase 31% shorter. Bone-anchored and socket-suspended prostheses arms were comparable for age, height, mass, and body mass index as well as cadence and speed of walking, but the bone-anchored prosthesis arm showed a step width and duration of double support in seconds 65% and 41% shorter, respectively. Bone-anchored and socket-suspended prostheses restored equally well the gait parameters at a self-selected speed. This benchmark data provides new insights into the walking ability of individuals using transfemoral bionics bone-anchored prostheses.

Source-Based EEG Neurofeedback for Sustained Motor Imagery of a Single Leg

The aim of the study was to test the feasibility of visual-neurofeedback-guided motor imagery (MI) of the dominant leg, based on source analysis with real-time sLORETA derived from 44 EEG channels. Ten able-bodied participants took part in two sessions: session 1 sustained MI without feedback and session 2 sustained MI of a single leg with neurofeedback. MI was performed in 20 s on and 20 s off intervals to mimic functional magnetic resonance imaging. Neurofeedback in the form of a cortical slice presenting the motor cortex was provided from a frequency band with the strongest activity during real movements. The sLORETA processing delay was 250 ms. Session 1 resulted in bilateral/contralateral activity in the 8–15 Hz band dominantly over the prefrontal cortex while session 2 resulted in ipsi/bilateral activity over the primary motor cortex, covering similar areas as during motor execution. Different frequency bands and spatial distributions in sessions with and without neurofeedback may reflect different motor strategies, most notably a larger proprioception in session 1 and operant conditioning in session 2. Single-leg MI might be used in the early phases of rehabilitation of stroke patients. Simpler visual feedback and motor cueing rather than sustained MI might further increase the intensity of cortical activation.

Tracking the whole-body centre of mass of humans seated in a wheelchair using motion capture

Estimating the position of the whole-body centre of mass (CoM) based on skin markers and anthropometric tables requires tracking the pelvis and lower body, which is impossible for wheelchair users due to occlusion. In this work, we present a method to track the user’s whole-body CoM using visible markers affixed to the user and wheelchair where the user remains seated in their wheelchair, by expressing the pelvis and lower body segments in wheelchair coordinates. The accuracy of this method was evaluated on the anterior-posterior (AP) and medial–lateral (ML) axes by comparing the projected CoM to the centre of pressure measured by four force plates, for 11 able-bodied participants adopting 9 static postures that include extreme reaching postures. The estimation accuracy was within 33 mm (AP) and 9 mm (ML), with a precision within 23 mm (AP) and 12 mm (ML). Tracking the whole-body CoM during wheelchair propulsion will allow researchers to better understand the dynamics of propulsion, which may help devise new approaches to increase the energy transfer from the arms to the ground and reduce the risks of developing musculoskeletal disorders.

Pulse rate variability: An alternative to heart rate variability in adults with spinal cord injury.

Pulse rate variability (PRV) is often used as an alternative to heart rate variability (HRV) to measure psychophysiological function. However, its validity to do so is unclear, especially in adults with spinal cord injury (SCI). This study compared PRV and HRV in adults with higher-level SCI (SCI-H, n = 23), lower-level SCI (SCI-L, n = 22), and able-bodied participants (AB n = 44), in a seated position as a function of performance in a reactivity task (Oxford Sleep Resistance Test: OSLER). PRV and HRV was measured using reflective finger-based photoplethysmography (PPG) and electrocardiography, respectively, at baseline, immediately post-OSLER, and after five-minute recovery. Agreement between PRV and HRV was determined by Bland-Altman analysis and differences between PRV and HRV over time by linear mixed effects model (LMM) analysis. Concurrent validity was assessed through correlation analyses between PRV and HRV. Additional correlation analyses were performed with psychosocial factors. Results indicated insufficient to moderate agreement between PRV and HRV. LMM analyses indicated no differences over time for standard deviation of normal-to-normal intervals and low-frequency power but significant differences for root mean square of successive differences and high frequency power. Nevertheless, PRV and HRV were highly correlated (Median r = .878 (.675-.990)) during all assessment periods suggesting sufficient concurrent validity. Similar correlation patterns were also found for PRV and HRV with psychosocial outcomes. While differences existed, results suggest PRV derived from reflective finger-based PPG is a valid proxy of HRV in tracking psychophysiological function in adults with SCI and could therefore be used as a more accessible monitoring tool.

Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain.

Positive biomechanical outcomes have been reported with lower-limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase progression change in real-world environments. This paper presents a controller for an ankle exoskeleton that uses a data-driven kinematic model to continuously estimate the phase, phase rate, stride length, and ground incline states during locomotion, which enables the real-time adaptation of torque assistance to match human torques observed in a multi-activity database of 10 able-bodied subjects. We demonstrate in live experiments with a new cohort of 10 able-bodied participants that the controller yields phase estimates comparable to the state of the art, while also estimating task variables with similar accuracy to recent machine learning approaches. The implemented controller successfully adapts its assistance in response to changing phase and task variables, both during controlled treadmill trials (N=10, phase RMSE: 4.8 ± 2.4%) and a real-world stress test with extremely uneven terrain (N=1, phase RMSE: 4.8 ± 2.7%).

A Dynamic Procedure to Detect Maximum Voluntary Contractions in Low Back.

Surface electromyography (sEMG) is generally used to measure muscles' activity. The sEMG signal can be affected using several factors and vary among individuals and even measurement trials. Thus, to consistently evaluate data among individuals and trials, the maximum voluntary contraction (MVC) value is usually calculated and used to normalize sEMG signals. However, the sEMG amplitude collected from low back muscles can be frequently larger than that found when conventional MVC measurement procedures are used. To address this limitation, in this study, we proposed a new dynamic MVC measurement procedure for low back muscles. Inspired by weightlifting, we designed a detailed dynamic MVC procedure, and then collected data from 10 able-bodied participants and compared their performances using several conventional MVC procedures by normalizing the sEMG amplitude for the same test. The sEMG amplitude normalized by our dynamic MVC procedure showed a much lower value than those obtained using other procedures (Wilcoxon signed-rank test, with p < 0.05), indicating that the sEMG collected during dynamic MVC procedure had a larger amplitude than those of conventional MVC procedures. Therefore, our proposed dynamic MVC obtained sEMG amplitudes closer to its physiological maximum value and is thus more capable of normalizing the sEMG amplitude for low back muscles.

Development of an Integrated Powered Hip and Microprocessor-Controlled Knee for a Hip-Knee-Ankle-Foot Prosthesis.

Hip-knee-ankle-foot prostheses (HKAF) are full lower-limb devices for people with hip amputations that enable individuals to regain their mobility and move freely within their chosen environment. HKAFs typically have high rejection rates among users, as well as gait asymmetry, increased trunk anterior-posterior lean, and increased pelvic tilt. A novel integrated hip-knee (IHK) unit was designed and evaluated to address the limitations of existing solutions. This IHK combines powered hip and microprocessor-controlled knee joints into one structure, with shared electronics, sensors, and batteries. The unit is also adjustable to user leg length and alignment. ISO-10328:2016 standard mechanical proof load testing demonstrated acceptable structural safety and rigidity. Successful functional testing involved three able-bodied participants walking with the IHK in a hip prosthesis simulator. Hip, knee, and pelvic tilt angles were recorded and stride parameters were analyzed from video recordings. Participants were able to walk independently using the IHK and data showed that participants used different walking strategies. Future development of the thigh unit should include completion of a synergistic gait control system, improved battery-holding mechanism, and amputee user testing.

Evaluating the effect of non-invasive force feedback on prosthetic grasp force modulation in participants with and without limb loss.

Grasping an object is one of the most common and complex actions performed by humans. The human brain can adapt and update the grasp dynamics through information received from sensory feedback. Prosthetic hands can assist with the mechanical performance of grasping, however currently commercially available prostheses do not address the disruption of the sensory feedback loop. Providing feedback about a prosthetic hand's grasp force magnitude is a top priority for those with limb loss. This study tested a wearable haptic system, i.e., the Clenching Upper-Limb Force Feedback device (CUFF), which was integrated with a novel robotic hand (The SoftHand Pro). The SoftHand Pro was controlled with myoelectrics of the forearm muscles. Five participants with limb loss and nineteen able-bodied participants completed a constrained grasping task (with and without feedback) which required modulation of the grasp to reach a target force. This task was performed while depriving participants of incidental sensory sources (vision and hearing were significantly limited with glasses and headphones). The data were analyzed with Functional Principal Component Analysis (fPCA). CUFF feedback improved grasp precision for participants with limb loss who typically use body-powered prostheses as well as a sub-set of able-bodied participants. Further testing, that is more functional and allows participants to use all sensory sources, is needed to determine if CUFF feedback can accelerate mastery of myoelectric control or would benefit specific patient sub-groups.

A tool for measuring mental workload during prosthesis use: The Prosthesis Task Load Index (PROS-TLX).

When using a upper-limb prosthesis, mental, emotional, and physical effort is often experienced. These have been linked to high rates of device dissatisfaction and rejection. Therefore, understanding and quantifying the complex nature of workload experienced when using, or learning to use, a upper-limb prosthesis has practical and clinical importance for researchers and applied professionals. The aim of this paper was to design and validate a self-report measure of mental workload specific to prosthesis use (The Prosthesis Task Load Index; PROS-TLX) that encapsulates the array of mental, physical, and emotional demands often experienced by users of these devices. We first surveyed upper-limb prosthetic limb users who confirmed the importance of eight workload constructs taken from published literature and previous workload measures. These constructs were mental demands, physical demands, visual demands, conscious processing, frustration, situational stress, time pressure and device uncertainty. To validate the importance of these constructs during initial prosthesis learning, we then asked able-bodied participants to complete a coin-placement task using their anatomical hand and then using a myoelectric prosthesis simulator under low and high mental workload. As expected, using a prosthetic hand resulted in slower movements, more errors, and a greater tendency to visually fixate the hand (indexed using eye-tracking equipment). These changes in performance were accompanied by significant increases in PROS-TLX workload subscales. The scale was also found to have good convergent and divergent validity. Further work is required to validate whether the PROS-TLX can provide meaningful clinical insights to the workload experienced by clinical users of prosthetic devices.

Upright vs. supine shape-capturing comparison for custom-contoured cushions

AimsThis study aims to explore best practices of shape capturing methods for creating custom-contoured wheelchair cushions for the purpose of reducing pressure injury risk. Materials and methodsPressure redistribution qualities were measured by peak pressure index (PPI) and compared between custom-contoured seating systems molded in supine vs. upright shape-capturing positions. Subjects consisted of 14 able-bodied participants in a within-subjects comparison. ResultsA Wilcoxon signed-rank test and paired t-test were calculated to compare the mean differences of the PPI between shape-capturing positions. Supine shape-capturing resulted in a statistically significant lower PPI compared to upright (z = 2.040, p < . 05) (t = −2.28, p < .05). ConclusionShape-capturing in the supine position provided greater pressure distribution as opposed to an upright position. Creating custom-contoured cushions molded in a supine position can reduce the risk of pressure injury to the patient.

Hybrid FES-exoskeleton control: Using MPC to distribute actuation for elbow and wrist movements.

Individuals who have suffered a cervical spinal cord injury prioritize the recovery of upper limb function for completing activities of daily living. Hybrid FES-exoskeleton systems have the potential to assist this population by providing a portable, powered, and wearable device; however, realization of this combination of technologies has been challenging. In particular, it has been difficult to show generalizability across motions, and to define optimal distribution of actuation, given the complex nature of the combined dynamic system. In this paper, we present a hybrid controller using a model predictive control (MPC) formulation that combines the actuation of both an exoskeleton and an FES system. The MPC cost function is designed to distribute actuation on a single degree of freedom to favor FES control effort, reducing exoskeleton power consumption, while ensuring smooth movements along different trajectories. Our controller was tested with nine able-bodied participants using FES surface stimulation paired with an upper limb powered exoskeleton. The hybrid controller was compared to an exoskeleton alone controller, and we measured trajectory error and torque while moving the participant through two elbow flexion/extension trajectories, and separately through two wrist flexion/extension trajectories. The MPC-based hybrid controller showed a reduction in sum of squared torques by an average of 48.7 and 57.9% on the elbow flexion/extension and wrist flexion/extension joints respectively, with only small differences in tracking accuracy compared to the exoskeleton alone. To realize practical implementation of hybrid FES-exoskeleton systems, the control strategy requires translation to multi-DOF movements, achieving more consistent improvement across participants, and balancing control to more fully leverage the muscles' capabilities.