Usability Assessment of Body Controlled Electric Hand Prostheses: A Pilot Study.

Poly-articulated hands, actuated by multiple motors and controlled by surface myoelectric technologies, represent the most advanced aids among commercial prostheses. However, simple hook-like body-powered solutions are still preferred for their robustness and control reliability, especially for challenging environments (such as those encountered in manual work or developing countries). This study presents the mechatronic implementation and the usability assessment of the SoftHand Pro-Hybrid, a family of poly-articulated, electrically-actuated, and body-controlled artificial hands, which combines the main advantages of both body-powered and myoelectric systems in a single device. An assessment of the proposed system is performed with individuals with and without limb loss, using as a benchmark the SoftHand Pro, which shares the same soft mechanical architecture, but is controlled using surface electromyographic sensors. Results indicate comparable task performance between the two control methods and suggest the potential of the SoftHand Pro-Hybrid configurations as a viable alternative to myoelectric control, especially in work and demanding environments.

A novel mechatronic system for evaluating elbow muscular spasticity relying on Tonic Stretch Reflex Threshold estimation.

Muscular spasticity represents one of the most common motor disorder associated to lesions of the Central Nervous System, such as Stroke, and affects joint mobility up to the complete prevention of skeletal muscle voluntary control. Its clinical evaluation is hence of fundamental relevance for an effective rehabilitation of the affected subjects. Standard assessment protocols are usually manually performed by humans, and hence their reliability strongly depends on the capabilities of the clinical operator performing the procedures. To overcome this limitation, one solution is the usage of mechatronic devices based on the estimation of the Tonic Stretch Reflex Threshold, which allows for a quite reliable and operator-independent evaluation. In this work, we present the design and characterization of a novel mechatronic device that targets the estimation of the Tonic Stretch Reflex Threshold at the elbow level, and, at the same time, it can potentially act as a rehabilitative system. Our device can deliver controllable torque/velocity stimulation and record functional parameters of the musculo-skeletal system (joint position, torque, and multi-channel ElectroMyoGraphyc patterns), with the ultimate goals of: i) providing significant information for the diagnosis and the classification of muscular spasticity, ii) enhancing the recovery evaluation of patients undergoing through therapeutic rehabilitation procedures and iii) enabling a future active usage of this device also as therapeutic tool.Clinical relevance- The contribution presented in this work proposes a technological advancement for a device-based evaluation of motion impairment related to spasticity, with a major potential impact on both the clinical appraisal and the rehabilitation procedures.

Muscle fatigue assessment through electrodermal activity analysis during isometric contraction.

We studied the effects of muscle fatigue on the Autonomic Nervous System (ANS) dynamics. Specifically, we monitored the electrodermal activity (EDA) on 32 healthy subjects performing isometric biceps contraction. As assessed by means of an electromyography (EMG) analysis, 15 subjects showed muscle fatigue and 17 did not. EDA signals were analyzed using the recently proposed cvxEDA model in order to decompose them into their phasic and tonic components and extract effective features to study ANS dynamics. A statistical comparison between the two groups of subjects was performed. Results revealed that relevant phasic EDA features significantly increased in the fatigued group. Moreover, a pattern recognition system was applied to the EDA dataset in order to automatically discriminate between fatigued and non-fatigued subjects. The proposed leave-one-subject-out KNN classifier showed an accuracy of 75.69%. These results suggest the use of EDA as correlate of muscle fatigue, providing integrative information to the standard indices extracted from the EMG signals.

Heart rate variability analysis during muscle fatigue due to prolonged isometric contraction.

Fatigue can be defined as the muscular condition occurring before the inability to perform a task. It can be assessed through the evaluation of the median and mean frequency of the spectrum of the surface electromyography series. Previous studies investigated the relationship between heartbeat dynamics and muscular activity. However, exploitation of such cardiovascular measures to automatically identify muscle fatigue during fatiguing exercises is still missing. To this extent, HRV signals were gathered from 32 subjects during an isometric contraction task, and features defined in the time, frequency and nonlinear domains were investigated. We used surface electromyography to label the occurrence of muscle fatigue. Statistically significant differences were observed by comparing features related to fatigued subjects with the non-fatigued ones. Moreover, a pattern recognition system capable to achieve an average accuracy of 78.24% was implemented. These results confirmed the hypothesis that a relationship between heartbeat dynamics and muscle fatigue might exist.

Natural transmission of USP9Y gene mutations: a new perspective on the role of AZFa genes in male fertility.

Deletions of the azoospermia factor (AZF) regions of the Y chromosome are associated with severe spermatogenic failure and represent the most frequent molecular genetic cause of azoospermia and severe oligozoospermia. The exact role of the candidate AZF genes is largely unknown due to both the extreme rarity of naturally occurring AZF gene-specific mutations and the lack of functional assays. Here, we report the fine characterization of two different deletions in the USP9Y gene (one of the two candidate genes in the AZFa region), which have been transmitted through natural conception in two unrelated families. The associated mild testicular phenotype, in both cases, is in sharp contrast with that of the two previously reported infertile patients bearing a mutation of the same gene. In conclusion, to date, the USP9Y gene has been considered as one of the major Y-linked spermatogenesis genes, based on both its position within the AZFa region and previous reports that correlated USP9Y mutation to severe spermatogenic failure and infertility. This view is now substantially changed because our findings clearly demonstrate that during human spermatogenesis, USP9Y is more likely a fine tuner that improves efficiency, rather than a provider of an essential function. More importantly, the observed natural conceptions suggest that the protein is not required for the final sperm maturation process or for the acquisition of sperm fertilizing ability, providing a new perspective on the role played by the USP9Y gene in male fertility.