The SSSA-MyHand: A Dexterous Lightweight Myoelectric Hand Prosthesis.

The replacement of a missing hand by a prosthesis is one of the most fascinating challenges in rehabilitation engineering. State of art prostheses are curtailed by the physical features of the hand, like poor functionality and excessive weight. Here we present a new multi-grasp hand aimed at overcoming such limitations. The SSSA-MyHand builds around a novel transmission mechanism that implements a semi-independent actuation of the abduction/adduction of the thumb and of the flexion/extension of the index, by means of a single actuator. Thus, with only three electric motors the hand is capable to perform most of the grasps and gestures useful in activities of daily living, akin commercial prostheses with up to six actuators, albeit it is as lightweight as conventional 1-Degrees of Freedom prostheses. The hand integrates position and force sensors and an embedded controller that implements automatic grasps and allows inter-operability with different human-machine interfaces. We present the requirements, the design rationale of the first prototype and the evaluation of its performance. The weight (478 g), force (31 N maximum force at the thumb fingertip) and speed of the hand (closing time: <370 ms), make this new design an interesting alternative to clinically available multi-grasp prostheses.

Quantitative kinematic characterization of reaching impairments in mice after a stroke.

BACKGROUND AND OBJECTIVE: Kinematic analysis of reaching movements is increasingly used to evaluate upper extremity function after cerebrovascular insults in humans and has also been applied to rodent models. Such analyses can require time-consuming frame-by-frame inspections and are affected by the experimenter's bias. In this study, we introduce a semi-automated algorithm for tracking forepaw movements in mice. This methodology allows us to calculate several kinematic measures for the quantitative assessment of performance in a skilled reaching task before and after a focal cortical stroke. METHODS: Mice were trained to reach for food pellets with their preferred paw until asymptotic performance was achieved. Photothrombosis was then applied to induce a focal ischemic injury in the motor cortex, contralateral to the trained limb. Mice were tested again once a week for 30 days. A high frame rate camera was used to record the movements of the paw, which was painted with a nontoxic dye. An algorithm was then applied off-line to track the trajectories and to compute kinematic measures for motor performance evaluation. RESULTS: The tracking algorithm proved to be fast, accurate, and robust. A number of kinematic measures were identified as sensitive indicators of poststroke modifications. Based on end-point measures, ischemic mice appeared to improve their motor performance after 2 weeks. However, kinematic analysis revealed the persistence of specific trajectory adjustments up to 30 days poststroke, indicating the use of compensatory strategies. CONCLUSIONS: These results support the use of kinematic analysis in mice as a tool for both detection of poststroke functional impairments and tracking of motor improvements following rehabilitation. Similar studies could be performed in parallel with human studies to exploit the translational value of this skilled reaching analysis.

A robotic system for quantitative assessment and poststroke training of forelimb retraction in mice.

BACKGROUND: Neurorehabilitation protocols based on the use of robotic devices have recently shown to provide promising clinical results. However, their efficacy is still limited because of the poor comprehension of the mechanisms at the basis of functional enhancements. OBJECTIVE: To increase basic understanding of robot-mediated neurorehabilitation by performing experiments on a rodent model of stroke. METHODS: Mice were trained to pull back a handle on a robotic platform and their performances in the task were evaluated before and after a focal cortical ischemic stroke. The platform was designed for the quantitative assessment of forelimb function via a series of parameters (time needed to complete the task, t-target; average force; number of sub-movements). RESULTS: The animals rapidly learned the retraction task and reached asymptotic performance by the fifth session of training. Within 2 to 6 days after a small, endothelin-1-induced lesion in the caudal forelimb area, mice showed an increase in t-target and number of sub-movements and a corresponding decrease in the average force exerted. These parameters returned to baseline, pre-lesion values with continued platform training (10-14 days after stroke). CONCLUSIONS: These results highlight the utility of the devised platform for characterizing post-infarct deficits and improvements of forelimb performance. Further research is warranted to widen the understanding of device-dependent rehabilitation effects.

Age-related modifications of muscle synergies and spinal cord activity during locomotion.

Recent findings have shown that neural circuits located in the spinal cord drive muscular activations during locomotion while intermediating between descending signals and peripheral sensory information. This relationship could be modified by the natural aging process. To address this issue, the activity of 12 ipsilateral leg muscles was analyzed in young and elderly people (7 subjects per group) while walking at six different cadences (40-140 steps/min). These signals were used to extract synergies underlying muscle activation and to map the motoneuronal activity of the pools belonging to the lumbosacral enlargement (L(2)-S(2)). The comparison between the two groups showed that neither temporal patterning of motor primitives nor muscles loading synergies seemed to be significantly affected by aging. Conversely, as the cadence increased, spinal maps differ significantly between the groups, showing higher and scattered activity during the whole gait cycle in elders and well-defined bursts in young subjects. The results suggested that motor primitives lead the synchronization of muscle activation mainly depending on the biomechanical demand of the locomotion; hence they are not significantly affected by aging. Nevertheless, at the spinal cord level, biomechanical requirements, peripheral afference, and descending inputs are differently integrated between the two groups, probably reflecting age-related changes of both nervous system and motor control strategies during locomotion.