Making Bipedal Robot Experiments Reproducible and Comparable: The Eurobench Software Approach.

This study describes the software methodology designed for systematic benchmarking of bipedal systems through the computation of performance indicators from data collected during an experimentation stage. Under the umbrella of the European project Eurobench, we collected approximately 30 protocols with related testbeds and scoring algorithms, aiming at characterizing the performances of humanoids, exoskeletons, and/or prosthesis under different conditions. The main challenge addressed in this study concerns the standardization of the scoring process to permit a systematic benchmark of the experiments. The complexity of this process is mainly due to the lack of consistency in how to store and organize experimental data, how to define the input and output of benchmarking algorithms, and how to implement these algorithms. We propose a simple but efficient methodology for preparing scoring algorithms, to ensure reproducibility and replicability of results. This methodology mainly constrains the interface of the software and enables the engineer to develop his/her metric in his/her favorite language. Continuous integration and deployment tools are then used to verify the replicability of the software and to generate an executable instance independent of the language through dockerization. This article presents this methodology and points at all the metrics and documentation repositories designed with this policy in Eurobench. Applying this approach to other protocols and metrics would ease the reproduction, replication, and comparison of experiments.

A Therapeutic Vibrating Insole Device for Postural Instability in Older People with Type 2 Diabetes: A Randomized Control Study.

INTRODUCTION: Frail older people with diabetes often present with or develop walking impairments, in part due to lower-limb sensory-motor neuropathy. Several studies suggest a possible improvement of balance control using somatosensory stimulation. We undertook a novel randomized control trial, the aim of which was to observe whether use of this device for 1 month improves walking speed as measured in the 10-m fast walking speed test standardized to body size at month 1 (M1) (FWS). Secondary outcomes were the differences between intervention (VS) and control (C) in the 10-m normal walking speed test, step length, short physical performance battery, timed up and go test, and posturographic measures. METHODS: Subjects were aged ≥ 70 years and had had type 2 diabetes for at least 2 years. The intervention (VS) at home consisted of 22-min daily vibrating sequences with noise intensity set at 90% of the tactile threshold for each foot. The same device was used in group C but noise was set to 0. Compliance was retrieved from the device. RESULTS: Among 56 subjects, 27 were in the VS group and 29 in the C group; 35 subjects were frail, 15 were prefrail ,and 6 were non-frail. Bilateral neuropathy was present in 17 subjects. More than half of sessions were done in 36 subjects with no discernible difference according to intervention. At M1 there were no discernible differences in FWS between the groups [VS: 0.96 (0.53) cm s-1 cm-1, C: 0.94 (0.47) cm s-1 cm-1]. There were also no discernible differences in other outcomes, irrespective of the presence of bilateral neuropathy. CONCLUSION: In a cohort of frail, prefrail, or non-frail older subjects with diabetes, a 1-month intervention using a vibrating insole device did not alter measures of walking speed and related measures. Larger studies with longer term and different stimulation protocols are required to test this hypothesis more fully.

Equimetrix Device: Criteria Based Validation and Reliability Analysis of the Center of Mass and Base of Support of a Human Postural Assessment System.

Human postural control is a fundamental ability for static and dynamic tasks, especially in hiper- and hipo-functional populations, such as the elderly. The Equimetrix is a clinical device developed to assess both the base of support (BoS) and the center of mass (CoM) dynamics, thus allowing their use as new evaluation and training tools. This study aims to perform a criteria based validation of Equimetrix by comparing the BoS and CoM data with gold-standard equipment. A motion capture system, force platform, and pressure mat were used to calculate the CoM, center of pressure (CoP) and BoS during bipedal, unipedal, feet together and full tandem stances. Results demonstrate an excellent reliability of Equimetrix in terms of spatial accuracy of the CoM, although over-estimating the CoM height. Differences were found when comparing Mean velocity Path with the CoM, but not with the CoP, indicating a lower reliability in time-based parameters. The Equimetrix presents a tendency to overestimate the BoS, with mixed reliability values, which may be related to the different size of sensing elements between the Equimetrix and the pressure sensing mat. These are encouraging results that should be further explored during dynamic tasks.

Robot-supported assessment of balance in standing and walking.

Clinically useful and efficient assessment of balance during standing and walking is especially challenging in patients with neurological disorders. However, rehabilitation robots could facilitate assessment procedures and improve their clinical value. We present a short overview of balance assessment in clinical practice and in posturography. Based on this overview, we evaluate the potential use of robotic tools for such assessment. The novelty and assumed main benefits of using robots for assessment are their ability to assess 'severely affected' patients by providing assistance-as-needed, as well as to provide consistent perturbations during standing and walking while measuring the patient's reactions. We provide a classification of robotic devices on three aspects relevant to their potential application for balance assessment: 1) how the device interacts with the body, 2) in what sense the device is mobile, and 3) on what surface the person stands or walks when using the device. As examples, nine types of robotic devices are described, classified and evaluated for their suitability for balance assessment. Two example cases of robotic assessments based on perturbations during walking are presented. We conclude that robotic devices are promising and can become useful and relevant tools for assessment of balance in patients with neurological disorders, both in research and in clinical use. Robotic assessment holds the promise to provide increasingly detailed assessment that allows to individually tailor rehabilitation training, which may eventually improve training effectiveness.

A vibro-tactile display for clinical monitoring: real-time evaluation.

BACKGROUND: Vibro-tactile displays use human skin to convey information from physiological monitors to anesthesiologists, providing cues about changes in the status of the patient. In this investigation, we evaluated, in a real-time clinical environment, the usability and wearability of a novel vibro-tactile display belt recently developed by our group, and determined its accuracy in identifying events when used by anesthesiologists. METHODS: A prospective observational study design was used. During routine anesthesia, a standard physiological monitor was connected to a software tool that used algorithms to automatically identify changing trends in mean noninvasive arterial blood pressure, expired minute ventilation, peak airway pressure, and end-tidal carbon dioxide partial pressure. The software was wirelessly interfaced to a vibro-tactile belt worn by the anesthesiologist. Each physiological variable was mapped to 1 of 4 tactor locations within the belt. The direction (increase/decrease) and 2 levels of change (small/large) were encoded in the stimulation patterns. A training session was completed by each anesthesiologist. The system was activated in real-time during anesthesia alongside routine physiological monitors. When the algorithms detected changes in the patient, the belt vibrated at the appropriate location with the pattern corresponding to the level and direction of change. Using a touch screen monitor the anesthesiologist was to enter the vibro-tactile message by first identifying the variable, then identifying the level and direction of change. Usability and wearability questionnaires were to be completed. The percentage of correct identification of the physiological trend, the direction of change, and the level of change were primary outcome variables. The mean usability score and wearability results were secondary outcome variables. We hypothesized that anesthesiologists would correctly identify the events communicated to them through the vibro-tactile belt 90% of the time, and that anesthesiologists would find the vibro-tactile belt usable and wearable. RESULTS: Seventeen anesthesiologists evaluated the display during 57 cases. The belt was operational for a mean (SD) duration of 75 (41) minutes per case. Seven cases were excluded from analysis because of technical failures. Eighty-one percent (confidence interval [CI], 77% to 84%) of all stimuli were decoded. The physiological trend, the direction of change, and the level of change were correctly identified for 97.7% (CI 96%-99%), 94.9% (CI 92%-97%), and 93.5% of these stimuli (CI, 91%-96%), respectively. Fourteen anesthesiologists completed the usability and wearability questionnaires. The mean usability score was 4.8 of a maximum usability score of 7. CONCLUSIONS: Anesthesiologists found a vibro-tactile belt to be wearable and usable and could accurately decode vibro-tactile messages in a real-time clinical environment.

Comparison between a dorsal and a belt tactile display prototype for decoding physiological events in the operating room.

OBJECTIVE: Vibrotactile display technology represents an innovative method to communicate vital information on patients from physiological monitoring devices to clinicians. The increasing number of sensors used in clinical practice has increased the amount of information required to be communicated, overwhelming the capacity of visual and auditory displays. The capacity to communicate could be increased with the use of a tactile display. In this study, we have compared a dorsal (DTD) and belt tactile (TB) display prototype in terms of learnability, error rate, and efficiency. METHODS: We conducted a prospective randomized preclinical study with non-clinicians in a simulated clinical setting to compare the two tactile display prototypes. Information encoded in the tactile message included the type of physiological parameter monitored, the direction of change, and the magnitude of change. Following a period of training, 24 alerts were repeated three times for each display in random order. Each subject evaluated each display. Experiments were repeated with the addition of a distraction task. RESULTS: DTD stimuli were easier to learn (52 trials compared to 101 trials; P = 0.0003), but the accuracy in decoding following training did not differ between the two prototypes. The DTD took longer to display the information, resulting in a faster TB response time (start of stimulus to response; 9.3 +/- 1.4 s [mean +/- SD] vs. DTD, 10.0 +/- 1.4 s; F[1,27] = 4.66; P = 0.04). However, the DTD had a faster response interval (end of stimulus to response) compared to the TB (5.6 +/- 1.4 s vs. 8.0 +/- 1.4 s; F[1,27] = 47.91; P < 0.0001). Compared to the TB, performance was affected less by distraction with the DTD. CONCLUSIONS: The communication of information on physiological parameters by tactile displays was easy to learn and accurate for both prototypes. The DTD was easier to learn and affected less by distraction. Further evaluation is required in a clinical setting with expert users to determine the clinical applicability of these prototypes.

A review of approaches to mobility telemonitoring of the elderly in their living environment.

Rapid technological advances have prompted the development of a wide range of telemonitoring systems to enable the prevention, early diagnosis and management, of chronic conditions. Remote monitoring can reduce the amount of recurring admissions to hospital, facilitate more efficient clinical visits with objective results, and may reduce the length of a hospital stay for individuals who are living at home. Telemonitoring can also be applied on a long-term basis to elderly persons to detect gradual deterioration in their health status, which may imply a reduction in their ability to live independently. Mobility is a good indicator of health status and thus by monitoring mobility, clinicians may assess the health status of elderly persons. This article reviews the architecture of health smart home, wearable, and combination systems for the remote monitoring of the mobility of elderly persons as a mechanism of assessing the health status of elderly persons while in their own living environment.

Walk detection with a kinematic sensor: frequency and wavelet comparison.

This study is included in the framework of Health Smart Homes which monitor some physiological or not physiological parameters of elderly people living independently at home. In this study we will focus on the walk detection. Walk activity is one parameter to evaluate the health of patient. For example, the total time of walk during a day allows assessing quickly if the subject is mobile rather than immobile. To reach this goal we used a kinematic sensor placed on the chest recording the movements of the subject. The data are analyzed by six algorithms to detect walk phases: two based on Fourier analysis and the others using a wavelet decomposition (DWT and CWT). All algorithms are described and the performances are evaluated on real data recorded with 20 elderly people. Results show that the method using the DWT decomposition is the most efficient (78.5% in sensitivity and 67.6% in specificity).

Preliminary results on the study of smart wearable antennas.

We report a study on the design, simulation and evaluation of wearable antennas. This work open the way to continuous and automatic monitoring with wearable devices.

Classification of daily physical activities from a single kinematic sensor.

This work was conducted in TIMC laboratory to develop methods able to monitor physical activities. In the framework of Health Smart Home, the purpose is to maintain and supervise elderly or fragile people at home. Activity and autonomy levels are important criteria to evaluate the health of the patient. The time spent in each postural state (lying, sitting, standing), the periods of walking and the number of postural transitions: sit-to-stand (StS), back-to-sit (BtS) give information about the patient's activity. The purpose of the current study is to detect these activities using an unique sensor made of three accelerometers, attached to the chest. First, this paper describes how each algorithm (posture, walk, postural transitions) works. Secondly, the results on real data are shown. An experiment with elderly subjects was carried out. Each subject performed daily activities (walking, sitting, lying down, ...) while wearing the sensor.