Medical & Biological Engineering & Computing, Jul 20, 2011
Strokes affect thousands of people worldwide leaving sufferers with severe disabilities affecting... more Strokes affect thousands of people worldwide leaving sufferers with severe disabilities affecting their daily activities. In recent years, new rehabilitation techniques have emerged such as constraint-induced therapy, biofeedback therapy and robot-aided therapy. In particular, robotic techniques allow precise recording of movements and application of forces to the affected limb, making it a valuable tool for motor rehabilitation. In addition, robotaided therapy can utilise visual cues conveyed on a computer screen to convert repetitive movement practice into an engaging task such as a game. Visual cues can also be used to control the information sent to the patient about exercise performance and to potentially address psychosomatic variables influencing therapy. This paper overviews the current state-of-the-art on upper limb robotmediated therapy with a focal point on the technical requirements of robotic therapy devices leading to the development of upper limb rehabilitation techniques that facilitate reach-to-touch, fine motor control, whole-arm movements and promote rehabilitation beyond hospital stay. The reviewed literature suggest that while there is evidence supporting the use of this technology to reduce functional impairment, besides the technological push, the challenge ahead lies on provision of effective assessment of outcome and modalities that have a stronger impact transferring functional gains into functional independence.
Improving admittance of robotic joints is the key issue for making rehabilitation robots safe. Th... more Improving admittance of robotic joints is the key issue for making rehabilitation robots safe. This paper describes a design of redundant drive joint (RD-Joint) which allows greater flexibility in the design of robotic mechanisms. The design strategy of the RD-joint employs a systematic approach which consists of 1) adopting a redundant joint mechanism with internal kinematical redundancy to reduce effective
Spinal cord injury (SCI) typically manifests with a loss of sensorimotor control of the lower lim... more Spinal cord injury (SCI) typically manifests with a loss of sensorimotor control of the lower limbs. In order to overcome some of the disadvantages of chronic wheelchair use by such patients, robotic exoskeletons are an emerging technology that has the potential to transform the lives of patients. However, there are a number of points of contact between the robot and the user, which lead to interaction forces. In a recent study, the authors have shown that peak interaction forces are particularly prominent at the anterior aspect of the right leg. This study uses a similar experimental protocol with additional electromyography (EMG) analysis to examine whether such interaction forces are due to the muscular activity of the participant or the movement of the exoskeleton itself. Interestingly, the authors found that peak forces preceded peak EMG activity. This study did not find a significant correlation between EMG activity and force data, which would indicate that the interaction forces can largely be attributed to the movement of the exoskeleton itself. However, we also report significantly higher correlation coefficients in muscle/force pairs located at the anterior aspect of the right leg. In their previous research, the authors have shown peak interaction forces at the same locations, which suggests that muscular activity of the participant makes a more significant contribution to the interaction forces at these locations. The findings of this study are of significance for incomplete SCI patients, for whom EMG activity may provide an important input to an intuitive control schema.
Background: The Margin of Stability (MoS) is a widely used objective measure of dynamic stability... more Background: The Margin of Stability (MoS) is a widely used objective measure of dynamic stability during gait. Increasingly, researchers are using the MoS to assess the stability of pathological populations to gauge their stability capabilities and coping strategies, or as an objective marker of outcome, response to treatment or disease progression. The objectives are; to describe the types of pathological gait that are assessed using the MoS, to examine the methods used to assess MoS and to examine the way the MoS data is presented and interpreted. Methods: A systematic review was conducted in accordance with the Preferred Reporting Items for Systematic Reviews and Meta-Analyses Guidelines (PRISMA) in the following databases: Web of Science, PubMed, UCL Library Explore, Cochrane Library, Scopus. All articles measured the MoS of a pathologically affected adult human population whilst walking in a straight line. Extracted data were collected per a prospectively defined list, which included: population type, method of data analysis and model building, walking tasks undertaken, and interpretation of the MoS. Results: Thirty-one studies were included in the final review. More than 15 different clinical populations were studied, most commonly post-stroke and unilateral transtibial amputee populations. Most participants were assessed in a gait laboratory using motion capture technology, whilst 2 studies used instrumented shoes. A variety of centre of mass, base of support and MoS definitions and calculations were described. Conclusions: This is the first systematic review to assess use of the MoS and the first to consider its clinical application. Findings suggest the MoS has potential to be a helpful, objective measurement in a variety of clinically affected populations. Unfortunately, the methodology and interpretation varies, which hinders subsequent study comparisons. A lack of baseline results from large studies mean direct comparison between studies is difficult and strong conclusions are hard to make. Further work from the biomechanics community to develop reporting guidelines for MoS calculation methodology and a commitment to larger baseline studies for each pathology is welcomed.
IEEE Transactions on Neural Systems and Rehabilitation Engineering, May 1, 2014
This paper provides some additional evidence in support of the hypothesis that robot therapies ar... more This paper provides some additional evidence in support of the hypothesis that robot therapies are clinically beneficial in neurorehabilitation. Although only four subjects were included in the study, the design of the intervention and the measures were done so as to minimize bias. The results are presented as single case studies, and can only be interpreted as such due to the study size. The intensity of intervention was 16 h and the therapy philosophy (based on Carr and Shepherd) was that coordinated movements are preferable to joint based therapies, and that coordinating distal movements (in this case grasps) helps not only to recover function in these areas, but has greater value since the results are immediately transferable to daily skills such as reach and grasp movements.
Advances associated in terms of cost and quality in virtual reality have brought new paradigms to... more Advances associated in terms of cost and quality in virtual reality have brought new paradigms to help with rehabilitation in a vast range of areas. Previous systems have focused on visual based only paradigms with varied results. The system described in this paper draw not only from visual based approaches but also adding elements of haptics to increase the level of immersion but in combination also invoke the sense of agency in patients with phantom limb pain. This paper presents three case studies of an ongoing clinical study. The initial results suggest an increased sense of embodiment of the virtual limb promotes a decrease in perceived levels of pain. The results strengthen the view that the cortical map does not fully "disappear" yet lays dormant.
ABSTRACT This paper reports preliminary results of a reach and grasp study of robot mediated neur... more ABSTRACT This paper reports preliminary results of a reach and grasp study of robot mediated neurorehabilitation. These results are presented on a case-by-case basis and give a good indication of a positive effect of robot mediated therapy. The study investigated both reach and grasp assistance and although it is not possible to attribute the response to the benefits of providing assistance of both modalities the study is a good indicator that this strategy should be pursued. The paper also reports on the benefits of motivational queues such as exercise scores and on subject attitudes to the robot mediated therapy.
This paper presents the Gentle/G integrated system for reach & grasp therapy retraining follo... more This paper presents the Gentle/G integrated system for reach & grasp therapy retraining following brain injury. The design, control and integration of an experimental grasp assistance unit is described for use in robot assisted stroke rehabilitation. The grasp assist unit is intended to work with the hardware and software of the Gentle/S robot although the hardware could be adapted to other rehabilitation applications. When used with the Gentle/S robot a total of 6 active and 3 passive degrees of freedom are available to provide active, active assist or passive grasp retraining in combination with reaching movements in a reach-grasp-transfer-release sequence.
Navigating cluttered indoor environments is a difficult problem in indoor service robotics. The A... more Navigating cluttered indoor environments is a difficult problem in indoor service robotics. The Acroboter concept, a novel approach to indoor locomotion, represents unique opportunity to avoid obstacles in indoor environments by navigating the ceiling plane. This mode of locomotion requires the ability to accurately detect obstacles, and plan 3D trajectories through the environment. This paper presents the development of a
The use of robotics in rehabilitation has shown to have a positive outcome when applied to stroke... more The use of robotics in rehabilitation has shown to have a positive outcome when applied to stroke patients and other movement based therapies. Despite recent studies looking at these types of therapies in helping patients with Phantom Limb Pain very few have looked at employing the elements that make robotics successful with stroke patients towards amputees. Phantom Limb Pain affects the majority of amputees, resulting in the need for further study due to the vast range of potential treatments available. This paper examines the effects of Phantom Limb Pain, its treatment, paradigms based on robotic rehabilitation, and provides an outline of a possible therapy method based on an immersive system providing proprioceptive and kinaesthetic feedback to the user while performing a manipulation task.
SARS-CoV-2 may spread through respiratory droplets released by infected individuals. The viruses ... more SARS-CoV-2 may spread through respiratory droplets released by infected individuals. The viruses are transmitted in moist droplets which cause coronavirus disease. Many countries have mandated the wearing of face masks, to various extents. However, the efficacy of masks is yet to be well rationalised given the limited microstructure information. Here, three common face masks and associated air permeations were revealed by coupling X-ray tomographic imaging and infrared thermal imaging techniques. Quantitative parameters have been extracted from the 3D images. Also, image-based modelling was performed to simulate the permeability to show how droplets pass through the porous structure. Our results show that the N95 mask has the smallest average pore diameter (~30 µm) and the densest nanoscale fibres which provides superior droplet filtration among all cases. Modifications to the N95 masks are proposed to develop the next generation mask with higher efficacy and better breathability.
The use of robotics in neurorehabilitation has shown to have a positive outcome. Despite recent s... more The use of robotics in neurorehabilitation has shown to have a positive outcome. Despite recent studies looking at virtual realities to deliver therapy to help patients with Phantom Limb Pain very few have looked at the use of robots and its effects on the cortical reorganization during the course of the therapy. This paper looks at the Phantom Limb Pain, its treatment, discusses how robotic rehabilitation paradigms could enhance therapy and outlines a robotic therapy method based on motor learning.
This paper presents the ROBIN (Rehabilitation Of Brain INjuries) multi-model system for whole-arm... more This paper presents the ROBIN (Rehabilitation Of Brain INjuries) multi-model system for whole-arm therapy retraining following a brain injury or a stroke. The design, control and integration of a new type of hybrid system based on a multi-robot implementation is described. The system is able to support multiple exercise design approaches, providing grasp and full upper limb movement over a large workspace whilst sitting or standing. When used in its largest configuration a total of 12 active and 9 passive degrees of freedom are available to provide active, active assist or passive grasp retraining in combination with reaching movements (and dynamic gravity compensation) in a reach-grasp-transfer-release sequence.
This paper examines the influence of a collaborative rehabilitation environment that encourages a... more This paper examines the influence of a collaborative rehabilitation environment that encourages a long-distance collaborative "play" using two robot-mediated environments. This study presents a strategy for increasing motivation on able-bodied persons, applicable to impaired persons, to engage, sustain play and relate during a shared task. The study consisted of a series of eighteen single case studies, each involved in two distinct phases and assessed using a multidimensional measurement intended to assess participant' subjective experience. The results showed a clear positive trend in favour of the robot-mediated game environment. Subjects found the collaborative environment more valuable and more interesting and enjoyable. As a consequence, it appears subjects were willing to spend more time at a task
2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Aug 21, 2022
This paper presents a novel method of tuning vibration parameters to elicit specific perceptions ... more This paper presents a novel method of tuning vibration parameters to elicit specific perceptions of texture using vibration artefacts detected in EMG signals. Though often used for prosthetic control, sensory feedback modalities like vibration can be used to convey proprioceptive or sensory information. Literature has shown that the presence of sensory feedback in prosthesis can improve embodiment and control of prosthetic devices. However, it is not widely adopted in daily prosthesis use, due in large part to the daily change in perception and interpretation of the sensory modality. This results in daily parameter adjustments so that sensory perception can be maintained over time. A method therefore needs to be established to maintain perception generated by modalities like vibrations. This paper investigates modulating the vibration parameters based on how the vibrations dissipate in the surrounding tissue from the stimuli. This is with the aim of correlating dissipation of vibration to specific perceptions of texture. Participants were asked to control vibration motor parameters to elicit the perception of three different grades of sandpaper, provided to them for reference. Once the vibration parameters were chosen a CNN algorithm identified and categorized the artefact features along equidistantly spaced EMG electrodes. Participants were asked to repeat this experiment on three separate days and on the fourth was asked to complete a texture identification task. The task involved identifying the texture of the sandpaper based on their previously chosen parameters and compared the results to tuning against an AI-based algorithm using the dissipation of the vibration artefacts.
Prosthetic limbs (and orthotic devices) have been used as a paradigm for the treatment and rehabi... more Prosthetic limbs (and orthotic devices) have been used as a paradigm for the treatment and rehabilitation of neuropathic pain, such as phantom limb pain. Long-term adoption of the devices for the continued use in rehabilitation remains low in part due to reduced embodiment and the high cognitive load associated with controlling the device. Previous research has shown that incorporating sensory feedback in prostheses can provide proprioceptive information, increase control and manipulation of objects, and improve embodiment. However, feedback experienced by the user varies daily and requires constant parameter adjustments to maintain accurate and intuitive sensory perception, further preventing long term adoption. Work therefore needs to be explored that correlate feedback modalities to perception of tactile information, such as texture and pressure. The work presented in this paper begins to explore this by utilizing a deep-learning algorithm to classify the dissipation of vibration artefacts found in the EMG signals of able-bodied individuals to specific texture patterns. Four texture patterns were applied to 7 participants using two vibration motors and repeated 3 times. In post processing, a RNN network identified the artefact features along equidistantly spaced EMG electrodes and correctly classified unseen data from each participant.
Medical & Biological Engineering & Computing, Jul 20, 2011
Strokes affect thousands of people worldwide leaving sufferers with severe disabilities affecting... more Strokes affect thousands of people worldwide leaving sufferers with severe disabilities affecting their daily activities. In recent years, new rehabilitation techniques have emerged such as constraint-induced therapy, biofeedback therapy and robot-aided therapy. In particular, robotic techniques allow precise recording of movements and application of forces to the affected limb, making it a valuable tool for motor rehabilitation. In addition, robotaided therapy can utilise visual cues conveyed on a computer screen to convert repetitive movement practice into an engaging task such as a game. Visual cues can also be used to control the information sent to the patient about exercise performance and to potentially address psychosomatic variables influencing therapy. This paper overviews the current state-of-the-art on upper limb robotmediated therapy with a focal point on the technical requirements of robotic therapy devices leading to the development of upper limb rehabilitation techniques that facilitate reach-to-touch, fine motor control, whole-arm movements and promote rehabilitation beyond hospital stay. The reviewed literature suggest that while there is evidence supporting the use of this technology to reduce functional impairment, besides the technological push, the challenge ahead lies on provision of effective assessment of outcome and modalities that have a stronger impact transferring functional gains into functional independence.
Improving admittance of robotic joints is the key issue for making rehabilitation robots safe. Th... more Improving admittance of robotic joints is the key issue for making rehabilitation robots safe. This paper describes a design of redundant drive joint (RD-Joint) which allows greater flexibility in the design of robotic mechanisms. The design strategy of the RD-joint employs a systematic approach which consists of 1) adopting a redundant joint mechanism with internal kinematical redundancy to reduce effective
Spinal cord injury (SCI) typically manifests with a loss of sensorimotor control of the lower lim... more Spinal cord injury (SCI) typically manifests with a loss of sensorimotor control of the lower limbs. In order to overcome some of the disadvantages of chronic wheelchair use by such patients, robotic exoskeletons are an emerging technology that has the potential to transform the lives of patients. However, there are a number of points of contact between the robot and the user, which lead to interaction forces. In a recent study, the authors have shown that peak interaction forces are particularly prominent at the anterior aspect of the right leg. This study uses a similar experimental protocol with additional electromyography (EMG) analysis to examine whether such interaction forces are due to the muscular activity of the participant or the movement of the exoskeleton itself. Interestingly, the authors found that peak forces preceded peak EMG activity. This study did not find a significant correlation between EMG activity and force data, which would indicate that the interaction forces can largely be attributed to the movement of the exoskeleton itself. However, we also report significantly higher correlation coefficients in muscle/force pairs located at the anterior aspect of the right leg. In their previous research, the authors have shown peak interaction forces at the same locations, which suggests that muscular activity of the participant makes a more significant contribution to the interaction forces at these locations. The findings of this study are of significance for incomplete SCI patients, for whom EMG activity may provide an important input to an intuitive control schema.
Background: The Margin of Stability (MoS) is a widely used objective measure of dynamic stability... more Background: The Margin of Stability (MoS) is a widely used objective measure of dynamic stability during gait. Increasingly, researchers are using the MoS to assess the stability of pathological populations to gauge their stability capabilities and coping strategies, or as an objective marker of outcome, response to treatment or disease progression. The objectives are; to describe the types of pathological gait that are assessed using the MoS, to examine the methods used to assess MoS and to examine the way the MoS data is presented and interpreted. Methods: A systematic review was conducted in accordance with the Preferred Reporting Items for Systematic Reviews and Meta-Analyses Guidelines (PRISMA) in the following databases: Web of Science, PubMed, UCL Library Explore, Cochrane Library, Scopus. All articles measured the MoS of a pathologically affected adult human population whilst walking in a straight line. Extracted data were collected per a prospectively defined list, which included: population type, method of data analysis and model building, walking tasks undertaken, and interpretation of the MoS. Results: Thirty-one studies were included in the final review. More than 15 different clinical populations were studied, most commonly post-stroke and unilateral transtibial amputee populations. Most participants were assessed in a gait laboratory using motion capture technology, whilst 2 studies used instrumented shoes. A variety of centre of mass, base of support and MoS definitions and calculations were described. Conclusions: This is the first systematic review to assess use of the MoS and the first to consider its clinical application. Findings suggest the MoS has potential to be a helpful, objective measurement in a variety of clinically affected populations. Unfortunately, the methodology and interpretation varies, which hinders subsequent study comparisons. A lack of baseline results from large studies mean direct comparison between studies is difficult and strong conclusions are hard to make. Further work from the biomechanics community to develop reporting guidelines for MoS calculation methodology and a commitment to larger baseline studies for each pathology is welcomed.
IEEE Transactions on Neural Systems and Rehabilitation Engineering, May 1, 2014
This paper provides some additional evidence in support of the hypothesis that robot therapies ar... more This paper provides some additional evidence in support of the hypothesis that robot therapies are clinically beneficial in neurorehabilitation. Although only four subjects were included in the study, the design of the intervention and the measures were done so as to minimize bias. The results are presented as single case studies, and can only be interpreted as such due to the study size. The intensity of intervention was 16 h and the therapy philosophy (based on Carr and Shepherd) was that coordinated movements are preferable to joint based therapies, and that coordinating distal movements (in this case grasps) helps not only to recover function in these areas, but has greater value since the results are immediately transferable to daily skills such as reach and grasp movements.
Advances associated in terms of cost and quality in virtual reality have brought new paradigms to... more Advances associated in terms of cost and quality in virtual reality have brought new paradigms to help with rehabilitation in a vast range of areas. Previous systems have focused on visual based only paradigms with varied results. The system described in this paper draw not only from visual based approaches but also adding elements of haptics to increase the level of immersion but in combination also invoke the sense of agency in patients with phantom limb pain. This paper presents three case studies of an ongoing clinical study. The initial results suggest an increased sense of embodiment of the virtual limb promotes a decrease in perceived levels of pain. The results strengthen the view that the cortical map does not fully "disappear" yet lays dormant.
ABSTRACT This paper reports preliminary results of a reach and grasp study of robot mediated neur... more ABSTRACT This paper reports preliminary results of a reach and grasp study of robot mediated neurorehabilitation. These results are presented on a case-by-case basis and give a good indication of a positive effect of robot mediated therapy. The study investigated both reach and grasp assistance and although it is not possible to attribute the response to the benefits of providing assistance of both modalities the study is a good indicator that this strategy should be pursued. The paper also reports on the benefits of motivational queues such as exercise scores and on subject attitudes to the robot mediated therapy.
This paper presents the Gentle/G integrated system for reach & grasp therapy retraining follo... more This paper presents the Gentle/G integrated system for reach & grasp therapy retraining following brain injury. The design, control and integration of an experimental grasp assistance unit is described for use in robot assisted stroke rehabilitation. The grasp assist unit is intended to work with the hardware and software of the Gentle/S robot although the hardware could be adapted to other rehabilitation applications. When used with the Gentle/S robot a total of 6 active and 3 passive degrees of freedom are available to provide active, active assist or passive grasp retraining in combination with reaching movements in a reach-grasp-transfer-release sequence.
Navigating cluttered indoor environments is a difficult problem in indoor service robotics. The A... more Navigating cluttered indoor environments is a difficult problem in indoor service robotics. The Acroboter concept, a novel approach to indoor locomotion, represents unique opportunity to avoid obstacles in indoor environments by navigating the ceiling plane. This mode of locomotion requires the ability to accurately detect obstacles, and plan 3D trajectories through the environment. This paper presents the development of a
The use of robotics in rehabilitation has shown to have a positive outcome when applied to stroke... more The use of robotics in rehabilitation has shown to have a positive outcome when applied to stroke patients and other movement based therapies. Despite recent studies looking at these types of therapies in helping patients with Phantom Limb Pain very few have looked at employing the elements that make robotics successful with stroke patients towards amputees. Phantom Limb Pain affects the majority of amputees, resulting in the need for further study due to the vast range of potential treatments available. This paper examines the effects of Phantom Limb Pain, its treatment, paradigms based on robotic rehabilitation, and provides an outline of a possible therapy method based on an immersive system providing proprioceptive and kinaesthetic feedback to the user while performing a manipulation task.
SARS-CoV-2 may spread through respiratory droplets released by infected individuals. The viruses ... more SARS-CoV-2 may spread through respiratory droplets released by infected individuals. The viruses are transmitted in moist droplets which cause coronavirus disease. Many countries have mandated the wearing of face masks, to various extents. However, the efficacy of masks is yet to be well rationalised given the limited microstructure information. Here, three common face masks and associated air permeations were revealed by coupling X-ray tomographic imaging and infrared thermal imaging techniques. Quantitative parameters have been extracted from the 3D images. Also, image-based modelling was performed to simulate the permeability to show how droplets pass through the porous structure. Our results show that the N95 mask has the smallest average pore diameter (~30 µm) and the densest nanoscale fibres which provides superior droplet filtration among all cases. Modifications to the N95 masks are proposed to develop the next generation mask with higher efficacy and better breathability.
The use of robotics in neurorehabilitation has shown to have a positive outcome. Despite recent s... more The use of robotics in neurorehabilitation has shown to have a positive outcome. Despite recent studies looking at virtual realities to deliver therapy to help patients with Phantom Limb Pain very few have looked at the use of robots and its effects on the cortical reorganization during the course of the therapy. This paper looks at the Phantom Limb Pain, its treatment, discusses how robotic rehabilitation paradigms could enhance therapy and outlines a robotic therapy method based on motor learning.
This paper presents the ROBIN (Rehabilitation Of Brain INjuries) multi-model system for whole-arm... more This paper presents the ROBIN (Rehabilitation Of Brain INjuries) multi-model system for whole-arm therapy retraining following a brain injury or a stroke. The design, control and integration of a new type of hybrid system based on a multi-robot implementation is described. The system is able to support multiple exercise design approaches, providing grasp and full upper limb movement over a large workspace whilst sitting or standing. When used in its largest configuration a total of 12 active and 9 passive degrees of freedom are available to provide active, active assist or passive grasp retraining in combination with reaching movements (and dynamic gravity compensation) in a reach-grasp-transfer-release sequence.
This paper examines the influence of a collaborative rehabilitation environment that encourages a... more This paper examines the influence of a collaborative rehabilitation environment that encourages a long-distance collaborative "play" using two robot-mediated environments. This study presents a strategy for increasing motivation on able-bodied persons, applicable to impaired persons, to engage, sustain play and relate during a shared task. The study consisted of a series of eighteen single case studies, each involved in two distinct phases and assessed using a multidimensional measurement intended to assess participant' subjective experience. The results showed a clear positive trend in favour of the robot-mediated game environment. Subjects found the collaborative environment more valuable and more interesting and enjoyable. As a consequence, it appears subjects were willing to spend more time at a task
2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Aug 21, 2022
This paper presents a novel method of tuning vibration parameters to elicit specific perceptions ... more This paper presents a novel method of tuning vibration parameters to elicit specific perceptions of texture using vibration artefacts detected in EMG signals. Though often used for prosthetic control, sensory feedback modalities like vibration can be used to convey proprioceptive or sensory information. Literature has shown that the presence of sensory feedback in prosthesis can improve embodiment and control of prosthetic devices. However, it is not widely adopted in daily prosthesis use, due in large part to the daily change in perception and interpretation of the sensory modality. This results in daily parameter adjustments so that sensory perception can be maintained over time. A method therefore needs to be established to maintain perception generated by modalities like vibrations. This paper investigates modulating the vibration parameters based on how the vibrations dissipate in the surrounding tissue from the stimuli. This is with the aim of correlating dissipation of vibration to specific perceptions of texture. Participants were asked to control vibration motor parameters to elicit the perception of three different grades of sandpaper, provided to them for reference. Once the vibration parameters were chosen a CNN algorithm identified and categorized the artefact features along equidistantly spaced EMG electrodes. Participants were asked to repeat this experiment on three separate days and on the fourth was asked to complete a texture identification task. The task involved identifying the texture of the sandpaper based on their previously chosen parameters and compared the results to tuning against an AI-based algorithm using the dissipation of the vibration artefacts.
Prosthetic limbs (and orthotic devices) have been used as a paradigm for the treatment and rehabi... more Prosthetic limbs (and orthotic devices) have been used as a paradigm for the treatment and rehabilitation of neuropathic pain, such as phantom limb pain. Long-term adoption of the devices for the continued use in rehabilitation remains low in part due to reduced embodiment and the high cognitive load associated with controlling the device. Previous research has shown that incorporating sensory feedback in prostheses can provide proprioceptive information, increase control and manipulation of objects, and improve embodiment. However, feedback experienced by the user varies daily and requires constant parameter adjustments to maintain accurate and intuitive sensory perception, further preventing long term adoption. Work therefore needs to be explored that correlate feedback modalities to perception of tactile information, such as texture and pressure. The work presented in this paper begins to explore this by utilizing a deep-learning algorithm to classify the dissipation of vibration artefacts found in the EMG signals of able-bodied individuals to specific texture patterns. Four texture patterns were applied to 7 participants using two vibration motors and repeated 3 times. In post processing, a RNN network identified the artefact features along equidistantly spaced EMG electrodes and correctly classified unseen data from each participant.
Uploads
Papers by Rui Loureiro