Sensory Feedback Control Research Articles

Bidirectional Control of Myoelectric Prostheses in Upper Limb Amputees: Current Results and Expectations

Abstract The most common causes of upper-limb amputations include traumatic etiology and malignity, followed by peripheral vascular diseases. Prosthetic fitting along with conducting a rehabilitation program provide the greatest possible degree of independence to the upper-limb amputees in performing their daily tasks, occupational, recreational and work activities. Despite recent advance in strategies of design and control, the lack of sensory feedback is, according to patients, one of the most important characteristics lacked by commercial myoelectric prostheses. This reason has led to the need for the development of comprehensive prosthetic part which would provide intuitive control and realistic sensory feedback to the amputees enabling them thus to more easily accomplish the tasks which are essential for easier performance of activities of daily life. Electromyography, and recently, electroneurography signals have been used for the development of more efficacious upper-limb prosthetic control. Several recent studies have demonstrated the efficacy of homologous and somatotopic approach in upper-limb amputees, by applying implanted and surface electrodes. This work presents novel methods for effective bidirectional control of myoelectric prostheses in patients with upper-limb amputations using motor control and sensory feedback. The above-mentioned approaches are applicable and have good prospects in further clinical use. The intraneural, extraneural and surface approach can be more or less applicable depending on the etiology and the level of amputation. From a clinical point of view, various approaches should be combined for obtaining more efficient control of bidirectional prostheses and corresponding sensory feedback.

Precision Sensorimotor Control in Aging FMR1 Gene Premutation Carriers.

BackgroundIndividuals with premutation alleles of the FMR1 gene are at risk of developing fragile X-associated tremor/ataxia syndrome (FXTAS), a neurodegenerative condition affecting sensorimotor function. Information on quantitative symptom traits associated with aging in premutation carriers is needed to clarify neurodegenerative processes contributing to FXTAS.Materials and Methods26 FMR1 premutation carriers ages 44–77 years and 31 age-matched healthy controls completed rapid (2 s) and sustained (8 s) visually guided precision gripping tasks. Individuals pressed at multiple force levels to determine the impact of increasing the difficulty of sensorimotor actions on precision behavior. During initial pressing, reaction time, the rate at which individuals increased their force, the duration of pressing, and force accuracy were measured. During sustained gripping, the complexity of the force time series, force variability, and mean force were examined. During relaxation, the rate at which individuals decreased their force was measured. We also examined the relationships between visuomotor behavior and cytosine-guanine-guanine (CGG) repeat length and clinically rated FXTAS symptoms.ResultsRelative to controls, premutation carriers showed reduced rates of initial force generation during rapid motor actions and longer durations of their initial pressing with their dominant hand. During sustained force, premutation carriers demonstrated reduced force complexity, though this effect was specific to younger premutation carries during dominant hand pressing and was more severe for younger relative to older premutation carriers at low and medium force levels. Increased reaction time and lower sustained force complexity each were associated with greater CGG repeat length for premutation carriers. Increased reaction time and increased sustained force variability were associated with more severe clinically rated FXTAS symptoms.ConclusionOverall our findings suggest multiple sensorimotor processes are disrupted in aging premutation carriers, including initial force control guided by feedforward mechanisms and sustained sensorimotor behaviors guided by sensory feedback control processes. Results indicating that sensorimotor issues in aging premutation carriers relate to both greater CGG repeat length and clinically rated FXTAS symptoms suggest that quantitative tests of precision sensorimotor ability may serve as key targets for monitoring FXTAS risk and progression.

Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model

ABSTRACT This paper presents mechatronic design and hierarchical locomotion control of a biomimetic robotic fish for three-dimensional swimming modes. Inspired by biological features of Lamprey, a closed loop sensory feedback Central Pattern Generator (CPG) model is adapted to hierarchical control mechanism in order to provide robust and effective biomimetic control structure. A sensory feedback mechanism plays an important role to react external stimuli from environment. In addition, a closed loop fuzzy logic control structure is developed as a brain model to decide adaptive swimming modes according to sensory information. In order to provide three-dimensional motion abilities, the Centre of Gravity (CoG) control mechanism is designed and controlled by a back-forth proportional control structure. Experimental results are obtained to prove the CPG-based closed loop sensory feedback control structure with the developed robotic fish prototype.

Gait Planning and Sensory Feedback Control for Robotic Sensor Systems in Smart Cities

Gait Planning and Sensory Feedback Control for Robotic Sensor Systems in Smart Cities

Abstract 76: Motor and Sensory Control of Robotic Hands Through Fascicular Targeting

PURPOSE: 18-25,000 upper limb amputations occur in the US annually. We have developed fascicular targeting (FAST) as a surgical approach for implanting electrode interfaces within the individual component fascicular groups of the nerves in the residual limb of upper extremity amputees. Our hypothesis is that FAST, when combined with custom-developed technologies including longitudinal intrafascicular electrode (LIFE) interfaces, nerve stimulation and recording electronics, sensory stimulation patterns, and artificial intelligence (AI) motor decoding algorithms, will enable the restoration of naturalistic hand function in robotic hand protheses used by upper extremity amputees. METHODS: 5 upper extremity amputees were implanted with LIFE + cuff interfaces for durations ranging from 3 months up to 1 year. 3 subjects were partial-hand amputees with 2 FAST interfaces (2 ulnar nerve fascicles). 2 subjects were transradial amputees with 4 FAST interfaces (2 ulnar nerve and 2 median nerve fascicles). Weekly experimental sessions were performed: to assess stimulation parameters for sensory feedback, to record motor signals for robotic hand control, and to train and measure functional performance following restoration of naturalistic sensory feedback and motor control. Implants were removed at the completion of the trial. RESULTS: All implants were well-tolerated by subjects, with little to no functional morbidity caused by their participation in the trial. Sensory stimulation thresholds remained within a usable range for the duration of the trial. Stimulation patterns were used to elicit sensations perceived as either natural or non-natural, according to subjects’ preferences. Sensory discrimination and anatomic localization were also assessed. Motor signals were recorded using a novel microchip design with built-in artifact rejection circuitry. Acquisition of single-unit motor data permitted the use of AI-based signal decoding algorithms to establish independent, free-will control of all 5 digits of the robotic hand. Single-session decodes continued to work for over 3–4 weeks post-training. Functional performance using closed-loop sensorimotor control, with anatomically relevant sensory feedback and user controlled activation of individual digits of the robotic hand, will be discussed in detail. CONCLUSION: Fascicular targeting, when combined with specialized sensory stimulation and motor recording strategies, can enable true dexterity for upper extremity amputees using robotic hands. This holds promise for the development of full clinical systems to restore the hands of upper extremity amputees.

Motor Control and Sensory Feedback Enhance Prosthesis Embodiment and Reduce Phantom Pain After Long-Term Hand Amputation.

We quantified prosthesis embodiment and phantom pain reduction associated with motor control and sensory feedback from a prosthetic hand in one human with a long-term transradial amputation. Microelectrode arrays were implanted in the residual median and ulnar arm nerves and intramuscular electromyography recording leads were implanted in residual limb muscles to enable sensory feedback and motor control. Objective measures (proprioceptive drift) and subjective measures (survey answers) were used to assess prosthesis embodiment. For both measures, there was a significant level of embodiment of the physical prosthetic limb after open-loop motor control of the prosthesis (i.e., without sensory feedback), open-loop sensation from the prosthesis (i.e., without motor control), and closed-loop control of the prosthesis (i.e., motor control with sensory feedback). There was also a statistically significant reduction in reported phantom pain after experimental sessions that included open-loop nerve microstimulation, open-loop prosthesis motor control, or closed-loop prosthesis motor control. The closed-loop condition provided no additional significant improvements in phantom pain reduction or prosthesis embodiment relative to the open-loop sensory condition or the open-loop motor condition. This study represents the first long-term (14-month), systematic report of phantom pain reduction and prosthesis embodiment in a human amputee across a variety of prosthesis use cases.

GC-B Deficient Mice With Axon Bifurcation Loss Exhibit Compromised Auditory Processing.

Sensory axon T-like branching (bifurcation) in neurons from dorsal root ganglia and cranial sensory ganglia depends on the molecular signaling cascade involving the secreted factor C-type natriuretic peptide, the natriuretic peptide receptor guanylyl cyclase B (GC-B; also known as Npr2) and cGMP-dependent protein kinase I (cGKI, also known as PKGI). The bifurcation of cranial nerves is suggested to be important for information processing by second-order neurons in the hindbrain or spinal cord. Indeed, mice with a spontaneous GC-B loss of function mutation (Npr2cn/cn) display an impaired bifurcation of auditory nerve (AN) fibers. However, these mice did not show any obvious sign of impaired basal hearing. Here, we demonstrate that mice with a targeted inactivation of the GC-B gene (Npr2lacZ/lacZ, GC-B KO mice) show an elevation of audiometric thresholds. In the inner ear, the cochlear hair cells in GC-B KO mice were nevertheless similar to those from wild type mice, justified by the typical expression of functionally relevant marker proteins. However, efferent cholinergic feedback to inner and outer hair cells was reduced in GC-B KO mice, linked to very likely reduced rapid efferent feedback. Sound-evoked AN responses of GC-B KO mice were elevated, a feature that is known to occur when the efferent axo-dendritic feedback on AN is compromised. Furthermore, late sound-evoked brainstem responses were significantly delayed in GC-B KO mice. This delay in sound response was accompanied by a weaker sensitivity of the auditory steady state response to amplitude-modulated sound stimuli. Finally, the acoustic startle response (ASR) – one of the fastest auditory responses – and the prepulse inhibition of the ASR indicated significant changes in temporal precision of auditory processing. These findings suggest that GC-B-controlled axon bifurcation of spiral ganglion neurons is important for proper activation of second-order neurons in the hindbrain and is a prerequisite for proper temporal auditory processing likely by establishing accurate efferent top-down control circuits. These data hypothesize that the bifurcation pattern of cranial nerves is important to shape spatial and temporal information processing for sensory feedback control.

P31. Gait disturbance in patients with orthostatic tremor

Introduction Orthostatic tremor (OT) is a rare disorder of unclear etiology characterized by a 13–18 Hz tremor of the legs while standing with resolving symptoms during sitting or walking. OT is associated with other movement disorders such as parkinsonism, essential tremor or cerebellar disorders. Although gait disturbances are frequently described in these diseases, there is no systemic analysis of the gait disorder linked to OT. Therefore, the aim of this study is to investigate the gait performance of patients with OT assessed by a standardized sensorimotor and cognitive walking paradigm. Methods Patients with a diagnosis of primary OT were screened and included in this study after informed consent. Gait performance was investigated during 8 different walking conditions using a pressure-sensitive sensor carpet (GAITRite®). Patients walked at preferred, slow and maximum walking speeds (PS, SS, MS), during head reclination and eyes closed conditions (HR, EC) as well as calculatory, semantic and motoric dual task conditions (DTC, DTS, DTM). The gait performance of patients was compared to age-matched healthy subjects. Gait parameters were assessed by a multivariate analysis of variance. Results Eighteen patients with a diagnosis of primary OT with a mean age of 70.4 ± 5.9 years were included in the study. In all walking conditions gait velocity (p Discussion Although OT symptoms diminish during walking, we identified constant impairments of locomotion control. The gait disturbance was characterized by an increased level of a cautious gait (slow, small-stepped, increased double support phases and BOS). Moreover, we identified disturbance of gait stability (increased CV) and interlimb coordination (left-right asymmetry). The specific alterations were found in conditions with increased sensory feedback control as well as attentional cognitive gait control. This implies an impaired integration of sensory feedback, possibly due to a dysfunction of midline cerebellar structures, as cerebellar dysfunction in OT was frequently described.

HapPro: A Wearable Haptic Device for Proprioceptive Feedback.

Myoelectric hand prostheses have reached a considerable technological level and gained an increasing attention in assistive robotics. However, their abandonment rate remains high, with unintuitive control and lack of sensory feedback being major causes. Among the different types of sensory information, proprioception, e.g., information on hand aperture, is crucial to successfully perform everyday actions. Despite the many attempts in literature to restore and convey this type of feedback, much remains to be done to close the action-perception loop in prosthetic devices. With this as motivation, in this paper we introduce HapPro, a wearable, noninvasive haptic device that can convey proprioceptive information for a prosthetic hand. The device was used with an under-actuated, simple to control anthropomorphic robotic hand, providing information about hand aperture by mapping it to the position of a wheel that can run on the user's forearm. Tests with 43 able bodied subjects and one amputee subject were conducted in order to quantify the effectiveness of HapPro as a feedback device. HapPro provided a good level of accuracy for item discrimination. Participants also reported the device to be intuitive and effective in conveying proprioceptive cues. Similar results were obtained in the proof-of-concept experiment with an amputee subject. Results show that HapPro is able to convey information on the opening of a prosthetic hand in a noninvasive way. Using this device for proprioceptive feedback could improve usability of myoelectric prostheses, potentially reducing abandonment and increasing quality of life for their users.

Feet and Footwear: Applying Biological Design and Mismatch Theory to Running Injuries

The Endurance-Running hypothesis proposes that natural selection has shaped humans into endurance-running specialists. Running-related-injury rates between 20-79% suggests modern humans are prone to injury in this species-specific movement pattern. This opinion piece offers a novel perspective on high-injury prevalence in human endurance running, focussing on evolutionary mismatch between modern athletic footwear and evolved foot structure and function. We propose that non-anatomically shaped, structured, cushioned footwear can lead to maladapted foot structure and loss of biologically-normal function including stability, elasticity, sensory feedback and subsequent movement control. The structure and function of the human foot and its possible impairment by modern footwear has received little attention in running-related literature, but could provide a new area of enquiry and potential solutions for many running-related injuries.

Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay

This paper proposes a new set-point control method for a musculoskeletal arm by combining muscular internal force feedforward control with feedback control including a large time delay. The proposed method accomplishes robust and rapid positioning with a relatively small muscular force. In the positioning by the muscular internal force feedforward controller, a large muscular force is required to achieve good performance. On the other hand, in the positioning by the feedback controller including the large time delay, the system can easily fall into an unstable state. A simple linear combination of these two controllers makes it possible to improve the control performance and to overcome the drawbacks of each controller in a complementary manner. First, a two-link six-muscle arm model is considered as a musculoskeletal system in this study. Second, the new set-point control method, which consists of the feedforward control signal and the feedback control signal including the time delay, is designed. Third, the stability of the proposed method is investigated using the Lyapunov–Razumikhin method. Finally, the results of numerical simulations and experiments are presented to demonstrate the advantages of the proposed method.

Walking Speed Influences the Effects of Implicit Visual Feedback Distortion on Modulation of Gait Symmetry.

The use of visual feedback in gait rehabilitation has been suggested to promote recovery of locomotor function by incorporating interactive visual components. Our prior work demonstrated that visual feedback distortion of changes in step length symmetry entails an implicit or unconscious adaptive process in the subjects’ spatial gait patterns. We investigated whether the effect of the implicit visual feedback distortion would persist at three different walking speeds (slow, self-preferred and fast speeds) and how different walking speeds would affect the amount of adaption. In the visual feedback distortion paradigm, visual vertical bars portraying subjects’ step lengths were distorted so that subjects perceived their step lengths to be asymmetric during testing. Measuring the adjustments in step length during the experiment showed that healthy subjects made spontaneous modulations away from actual symmetry in response to the implicit visual distortion, no matter the walking speed. In all walking scenarios, the effects of implicit distortion became more significant at higher distortion levels. In addition, the amount of adaptation induced by the visual distortion was significantly greater during walking at preferred or slow speed than at the fast speed. These findings indicate that although a link exists between supraspinal function through visual system and human locomotion, sensory feedback control for locomotion is speed-dependent. Ultimately, our results support the concept that implicit visual feedback can act as a dominant form of feedback in gait modulation, regardless of speed.

Robotic investigation on effect of stretch reflex and crossed inhibitory response on bipedal hopping.

To maintain balance during dynamic locomotion, the effects of proprioceptive sensory feedback control (e.g. reflexive control) should not be ignored because of its simple sensation and fast reaction time. Scientists have identified the pathways of reflexes; however, it is difficult to investigate their effects during locomotion because locomotion is controlled by a complex neural system and current technology does not allow us to change the control pathways in living humans. To understand these effects, we construct a musculoskeletal bipedal robot, which has similar body structure and dynamics to those of a human. By conducting experiments on this robot, we investigate the effects of reflexes (stretch reflex and crossed inhibitory response) on posture during hopping, a simple and representative bouncing gait with complex dynamics. Through over 300 hopping trials, we confirm that both the stretch reflex and crossed response can contribute to reducing the lateral inclination during hopping. These reflexive pathways do not use any prior knowledge of the dynamic information of the body such as its inclination. Beyond improving the understanding of the human neural system, this study provides roboticists with biomimetic ideas for robot locomotion control.

A cosmetic prosthetic digit with bioinspired embedded touch feedback.

Partial hand amputation is the most frequent amputation level worldwide, accounting for approximately 90% of all upper limb amputations. Passive cosmetic prostheses represent one of the possible choices for its treatment, probably the most affordable one. However, these devices restore very limited motor function and subtle sensory feedback. The latter is an important component for restoring the body schema. In this work we present a simple yet potentially effective and low cost cosmetic digital prosthesis that embeds touch feedback; we dubbed this DESC-finger. It delivers short-lasting vibrotactile bursts when it makes and breaks contact with the environment, based on the Discrete Event-driven Sensory feedback Control (DESC) policy. One prototype was developed and used by one amputee at home, for two months. The effectiveness of the device was experimentally assessed by means of an interview and a virtual eggs test, which showed, albeit preliminarily, that time discrete feedback can improve the motor control of a partial hand prosthesis in daily life conditions. Besides targeting people that already use cosmetic digits, the DESC-finger targets those that do not use them complaining for loss of sensibility. The production costs and manufacturing process makes the DESC-finger suitable for exploitation in high- and low-income countries.

A cortical circuit for voluntary laryngeal control: Implications for the evolution language.

The development of voluntary laryngeal control has been argued to be a key innovation in the evolution of language. Part of the evidence for this hypothesis comes from neuroscience. For example, comparative research has shown that humans have direct cortical innervation of motor neurons controlling the larynx, whereas nonhuman primates do not. Research on cortical motor control circuits has shown that the frontal lobe cortical motor system does not work alone; it is dependent on sensory feedback control circuits. Thus, the human brain must have evolved not only the required efferent motor pathway but also the cortical circuit for controlling those efferent signals. To fill this gap, I propose a link between the evolution of laryngeal control and neuroscience research on the human dorsal auditory-motor speech stream. Specifically, I argue that the dorsal stream Spt (Sylvian parietal-temporal) circuit evolved in step with the direct cortico-laryngeal control pathway and together represented a key advance in the evolution of speech. I suggest that a cortical laryngeal control circuit may play an important role in language by providing a prosodic frame for speech planning.

Sensory feedback control in speech: Neural circuits and individual differences

Speech production involves a combination of feedforward and sensory feedback-based control mechanisms. The latter have been characterized in experiments involving real-time perturbations during speech. Unexpected perturbations of auditory feedback result in corrective motor responses with a minimum latency of approximately 100 ms after perturbation onset. These responses have been shown for both pitch and formant frequency perturbations, and the responsible neural circuitry includes portions of the superior temporal gyrus and ventral premotor cortex (vPMC). Corrective responses to somatosensory perturbations (such as a downward force applied to the jaw) occur approximately 50 ms after perturbation onset and are mediated by ventral somatosensory cortex and vPMC. The degree to which an individual weights auditory versus somatosensory feedback varies substantially. Such differences rely in part on differences in sensory acuity, e.g., a speaker with relatively poor hearing is likely to rely more heavily on somatosensory feedback control mechanisms than auditory feedback control mechanisms. Additionally, reliance on feedback control may be modulated to compensate for impairments in the feedforward system for speech, e.g., adults who stutter show a reduced reliance on auditory feedback control compared to fluent speakers, perhaps because auditory feedback can have a deleterious effect on speech initiation in stuttering.

A Mixed-Signal VLSI System for Producing Temporally Adapting Intraspinal Microstimulation Patterns for Locomotion.

Neural pathways can be artificially activated through the use of electrical stimulation. For individuals with a spinal cord injury, intraspinal microstimulation, using electrical currents on the order of 125 μ A, can produce muscle contractions and joint torques in the lower extremities suitable for restoring walking. The work presented here demonstrates an integrated circuit implementing a state-based control strategy where sensory feedback and intrinsic feed forward control shape the stimulation waveforms produced on-chip. Fabricated in a 0.5 μ m process, the device was successfully used in vivo to produce walking movements in a model of spinal cord injury. This work represents progress towards an implantable solution to be used for restoring walking in individuals with spinal cord injuries.

Non-Invasive, Temporally Discrete Feedback of Object Contact and Release Improves Grasp Control of Closed-Loop Myoelectric Transradial Prostheses.

Human grasping and manipulation control critically depends on tactile feedback. Without this feedback, the ability for fine control of a prosthesis is limited in upper limb amputees. Although various approaches have been investigated in the past, at present there is no commercially available device able to restore tactile feedback in upper limb amputees. Based on the Discrete Event-driven Sensory feedback Control (DESC) policy we present a device able to deliver short-lasting vibrotactile feedback to transradial amputees using commercially available myoelectric hands. The device (DESC-glove) comprises sensorized thimbles to be placed on the prosthesis digits, a battery-powered electronic board, and vibrating units embedded in an arm-cuff being transiently activated when the prosthesis makes and breaks contact with objects. The consequences of using the DESC-glove were evaluated in a longitudinal study. Five transradial amputees were equipped with the device for one month at home. Through a simple test proposed here for the first time-the virtual eggs test-we demonstrate the effectiveness of the device for prosthetic control in daily life conditions. In the future the device could be easily exploited as an add-on to complement myoelectric prostheses or even embedded in prosthetic sockets to enhance their control by upper limb amputees.

1P1-X02 最大筋力を考慮した筋骨格システムの位置制御

This paper proposes a set-point control method for a musculoskeletal system considering maximum muscular force. In our previous work, the set-point control method for a musculoskeletal system was proposed which combines a feedforward control with a sensory feedback control including a considerable time-delay. However, the maximum output force of each muscle have not been considered though it sometimes induces a wind-up phenomenon because of the saturation of the muscular force. The ratio function to determine the ratio of feedforward and feedback control inputs is newly introduced in this paper to prevent such a wind-up phenomenon without the saturation of muscular force, and generate more sophisticated reaction motion even if disturbances are added on the end-point during movement. Numerical simulation results are shown to demonstrate the effectiveness of the proposed method.

Intention tremor and deficits of sensory feedback control in multiple sclerosis: a pilot study.

BackgroundIntention tremor and dysmetria are leading causes of upper extremity disability in Multiple Sclerosis (MS). The development of effective therapies to reduce tremor and dysmetria is hampered by insufficient understanding of how the distributed, multi-focal lesions associated with MS impact sensorimotor control in the brain. Here we describe a systems-level approach to characterizing sensorimotor control and use this approach to examine how sensory and motor processes are differentially impacted by MS.MethodsEight subjects with MS and eight age- and gender-matched healthy control subjects performed visually-guided flexion/extension tasks about the elbow to characterize a sensory feedback control model that includes three sensory feedback pathways (one for vision, another for proprioception and a third providing an internal prediction of the sensory consequences of action). The model allows us to characterize impairments in sensory feedback control that contributed to each MS subject’s tremor.ResultsModels derived from MS subject performance differed from those obtained for control subjects in two ways. First, subjects with MS exhibited markedly increased visual feedback delays, which were uncompensated by internal adaptive mechanisms; stabilization performance in individuals with the longest delays differed most from control subject performance. Second, subjects with MS exhibited misestimates of arm dynamics in a way that was correlated with tremor power. Subject-specific models accurately predicted kinematic performance in a reach and hold task for neurologically-intact control subjects while simulated performance of MS patients had shorter movement intervals and larger endpoint errors than actual subject responses. This difference between simulated and actual performance is consistent with a strategic compensatory trade-off of movement speed for endpoint accuracy.ConclusionsOur results suggest that tremor and dysmetria may be caused by limitations in the brain’s ability to adapt sensory feedback mechanisms to compensate for increases in visual information processing time, as well as by errors in compensatory adaptations of internal estimates of arm dynamics.Electronic supplementary materialThe online version of this article (doi:10.1186/1743-0003-11-170) contains supplementary material, which is available to authorized users.