Increasing signal amplitude in electrical impedance tomography of neural activity using a parallel resistor inductor capacitor (RLC) circuit.

OBJECTIVE: To increase the impedance signal amplitude produced during neural activity using a novel approach of implementing a parallel resistor inductor capacitor (RLC) circuit across the current source used in electrical impedance tomography (EIT) of peripheral nerve. APPROACH: The frequency response of the impedance signal was characterized in the range 4-18 kHz, then a frequency range with significant capacitive charge transfer was selected for experiment with the RLC circuit. Design of the RLC circuit was aided by in vitro impedance measurements on nerve and nerve cuff in the range 5 Hz to 50 kHz. MAIN RESULTS: The frequency response of the impedance signal across 4-18 kHz showed maximum amplitude at 6-8 kHz, and steady decline in amplitude between 8 and 18 kHz with -6 dB reduction at 14 kHz. The frequency range 17 ± 1 kHz was selected for the RLC experiment. The RLC experiment was performed on four subjects using an RLC circuit designed to produce a resonant frequency of 17 kHz with a bandwidth of 3.6 kHz, and containing a 22 mH inductive element and a 3.45 nF capacitive element with +0.8/- 3.45 nF manual tuning range. With the RLC circuit connected, relative increases in the impedance signal (±3σ noise) of 44% (±15%), 33% (±30%), 37% (±8.6%), and 16% (±19%) were produced. SIGNIFICANCE: The increase in impedance signal amplitude at high frequencies, generated by the novel implementation of a parallel RLC circuit across the drive current, improves spatial resolution by increasing the number of parallel drive currents which can be implemented in a frequency division multiplexed (FDM) EIT system, and aids the long term goal of a real-time FDM EIT system by reducing the need for ensemble averaging.

Extracting impedance changes from a frequency multiplexed signal during neural activity in sciatic nerve of rat: preliminary study in vitro.

OBJECTIVE: To establish suitable frequency spacing and demodulation steps to use when extracting impedance changes from frequency division multiplexed (FDM) carrier signals in peripheral nerve. APPROACH: Experiments were performed in vitro on cadavers immediately following euthanasia. Neural activity was evoked via stimulation of nerves in the hind paw, while carrier signals were injected, and recordings obtained, with a dual ring nerve cuff implanted on the sciatic nerve. Frequency analysis of recorded compound action potentials (CAPs) and extracted impedance changes, with the latter obtained using established demodulation methods, were used to determine suitable frequency spacing of carrier signals, and bandpass filter (BPF) bandwidth and order, for a frequency multiplexed signal. MAIN RESULTS: CAPs and impedance changes were dominant in the frequency band 200 to 500 Hz and 100 to 200 Hz, respectively. A Tukey window was introduced to remove ringing from Gibbs phenomena. A ±750 Hz BPF bandwidth was selected to encompass 99.99% of the frequency power of the impedance change. Modelling predicted a minimum BPF order of 16 for 2 kHz spacing, and 10 for 4 kHz spacing, were required to avoid ringing from the neighbouring carrier signal, while FDM experiments verified BPF orders of 12 and 8, respectively, were required. With a notch filter centred on the neighbouring signal, a BPF order of at least 6 or 4 was required for 2 and 4 kHz, respectively. SIGNIFICANCE: The results establish drive frequency spacing and demodulation settings for use in FDM electrical impedance tomography (EIT) experiments, as well as a method for their selection, and, for the first time, demonstrates the viability of FDM-EIT of neural activity on peripheral nerve, which will be a central aspect of future real-time neural-EIT systems and EIT-based neural prosthetics interfaces.

Neuromuscular characterisation in Cerebral Palsy using hybrid Hill-type models on isometric contractions.

BACKGROUND: Muscles of individuals with Cerebral Palsy (CP) undergo structural changes over their lifespan including an increase in muscle stiffness, decreased strength and coordination. Being able to identify these changes non-invasively would be beneficial to improve understanding of CP and assess therapy effectiveness over time. This study aims to adapt an existing EMG-driven Hill-type muscle model for neuromuscular characterisation during isometric contractions of the elbow joint. METHODS: Participants with (n = 2) and without CP (n = 8) performed isometric force ramps with contraction levels ranging between 15 and 70% of their maximum torque. During these contractions, high-density EMG data were collected from the M. Biceps and Triceps brachii with 64 electrodes on each muscle. The EMG-driven Hill-type muscle model was used to predict torques around the elbow joint, and muscle characterisation was performed by applying a genetic algorithm that tuned individuals' parameters to reduce the RMS error between observed and predicted torque data. RESULTS: Observed torques could be predicted accurately with an overall mean error of 1.24Nm ± 0.53Nm when modelling individual force ramps. The first four parameters of the model could be identified relatively reliably across different experimental protocols with a full-scale variation of below 20%. CONCLUSION: An HD-EMG muscle modelling approach to evaluating neuromuscular properties in participants with and without CP has been presented. This pilot study confirms the feasibility of the experimental protocol and demonstrates some parameters can be identified robustly using the isometric contraction force ramps.

Comparing Physical Human-Robot Interaction with Spring-and Elastomer-Based Series Elastic Actuators.

Physical human-robot interaction (pHRI) is an important consideration in the design of rehabilitation exoskeletons. Series Elastic Actuators (SEAs) are seen as a promising method of introducing compliance and comfort to robotic exoskeletons. Recently, authors have proposed the use of elastomers in SEAs, rather than springs, but there is a dearth of literature comparing how the two compliant elements are perceived by humans. In this paper, we quantitatively and qualitatively compare human interaction with an elastomer and a spring in terms of comfort and motion smoothness, with the aim of informing future SEA design. Two mechanisms were designed to compare human interaction with a spring and elastomer, and a cross-over experimental design was used to help eliminate any learning effects. Overall, the elastomer appeared to be slightly more comfortable and allow slightly smoother motion than the spring, holding promise for the use of elastomers as a means of improving pHRI in exoskeletons actuated by SEAs.

A model of electrical impedance tomography implemented in nerve-cuff for neural-prosthetics control.

OBJECTIVE: In neural interfaces for peripheral nerve a trade-off exists between the level of invasiveness and the selectivity of neural recordings. In this study, we implement electrical impedance tomography (EIT) in a nerve cuff with the aim to investigate the achievable level of selectivity. APPROACH: Established modelling approaches in neural-EIT are expanded on to be used, for the first time, on myelinated fibres which are abundant in mammalian peripheral nerves and transmit motor commands. The model is then used to evaluate the viability of using EIT with a nerve cuff to record neural activity in peripheral nerves. MAIN RESULTS: Fibre impedance models indicate activity in unmyelinated fibres can be screened out from activity in myelinated fibres using operating frequencies above 100 Hz. At 1 kHz the transverse impedance magnitude, which is perpendicular to the fibre length axis, of inactive intra-fascicle tissue and the fraction change during neural activity are estimated to be 1142 Ω cm and -8.8 × 10-4, respectively. At 1 kHz and 10 mm spacing between the impedance measurement electrode pair, the longitudinal impedance magnitude, which is parallel to the fibre length axis, and the fraction change during neural activity are estimated to be 328 Ω cm and -0.30, respectively. We show that a novel EIT drive and measurement electrode pattern which utilises longitudinal current and longitudinal differential boundary voltage measurements could distinguish activity in different fascicles, as well as simultaneous activity in multiple fascicles, of a three-fascicle mammalian nerve using simulated data. SIGNIFICANCE: The results of this study provide an estimate of the transient change in impedance of intra-fascicle tissue during neural activity in mammalian nerve, and present a viable EIT electrode pattern, both of which are critical steps towards implementing EIT in a nerve cuff for a recording neural interface.

Drive and measurement electrode patterns for electrode impedance tomography (EIT) imaging of neural activity in peripheral nerve.

Objective; To establish the performance of several drive and measurement patterns in EIT imaging of neural activity in peripheral nerve, which involves large impedance changes in the nerve's anisotropic length axis.Approach; Twelve drive and measurement electrode patterns are compared using a finite element (FE) four-cylindrical shell model of a peripheral nerve and a 32 channel dual-ring nerve cuff. The central layer of the FE model contains impedance changes representative of neural activity of -0.30 in length axis and -8.8 × 10-4in the radial axis. Six of the electrode patterns generate longitudinal drive current, which runs parallel to the anisotropic axis, while the remaining six patterns generate transverse drive current, which runs perpendicular to the anisotropic axis.Main results; Of the twelve patterns evaluated, transverse current patterns produce higher resolution than longitudinal current patterns but are also more susceptible to noise and errors, and exhibit poorer sensitivity to impedance changes in central sample locations. Three of the six longitudinal current patterns considered can reconstruct fascicle level impedance changes with up to 0.2 mV noise and error, which corresponds to between -5.5 and +0.18 dB of the normalised signal standard deviation. Reducing the spacing between the two electrode rings in all longitudinal current patterns reduced the signal to error ratio across all depth locations of the sample.Significance; Electrode patterns which target the large impedance change in the anisotropic length axis can provide improved robustness against noise and errors, which is a critical step towards real time EIT imaging of neural activity in peripheral nerve.

Robotic assessment of neuromuscular characteristics using musculoskeletal models: A pilot study.

OBJECTIVE: Non-invasive neuromuscular characterization aims to provide greater insight into the effectiveness of existing and emerging rehabilitation therapies by quantifying neuromuscular characteristics relating to force production, muscle viscoelasticity and voluntary neural activation. In this paper, we propose a novel approach to evaluate neuromuscular characteristics, such as muscle fiber stiffness and viscosity, by combining robotic and HD-sEMG measurements with computational musculoskeletal modeling. This pilot study investigates the efficacy of this approach on a healthy population and provides new insight on potential limitations of conventional musculoskeletal models for this application. METHODS: Subject-specific neuromuscular characteristics of the biceps and triceps brachii were evaluated using robot-measured kinetics, kinematics and EMG activity as inputs to a musculoskeletal model. RESULTS: Repeatability experiments in five participants revealed large variability within each subjects evaluated characteristics, with almost all experiencing variation greater than 50% of full scale when repeating the same task. CONCLUSION: The use of robotics and HD-sEMG, in conjunction with musculoskeletal modeling, to quantify neuromuscular characteristics has been explored. Despite the ability to predict joint kinematics with relatively high accuracy, parameter characterization was inconsistent i.e. many parameter combinations gave rise to minimal kinematic error. SIGNIFICANCE: The proposed technique is a novel approach for in vivo neuromuscular characterization and is a step towards the realization of objective in-home robot-assisted rehabilitation. Importantly, the results have confirmed the technical (robot and HD-sEMG) feasibility while highlighting the need to develop new musculoskeletal models and optimization techniques capable of achieving consistent results across a range of dynamic tasks.

Robust Control of a Cable-Driven Soft Exoskeleton Joint for Intrinsic Human-Robot Interaction.

A novel, cable-driven soft joint is presented for use in robotic rehabilitation exoskeletons to provide intrinsic, comfortable human-robot interaction. The torque-displacement characteristics of the soft elastomeric core contained within the joint are modeled. This knowledge is used in conjunction with a dynamic system model to derive a sliding mode controller (SMC) to implement low-level torque control of the joint. The SMC controller is experimentally compared with a baseline feedback-linearised proportional-derivative controller across a range of conditions and shown to be robust to un-modeled disturbances. The torque controller is then tested with six healthy subjects while they perform a selection of activities of daily living, which has validated its range of performance. Finally, a case study with a participant with spastic cerebral palsy is presented to illustrate the potential of both the joint and controller to be used in a physiotherapy setting to assist clinical populations.

Methodology for designing and manufacturing complex biologically inspired soft robotic fluidic actuators: prosthetic hand case study.

We present a novel methodology for the design and manufacture of complex biologically inspired soft robotic fluidic actuators. The methodology is applied to the design and manufacture of a prosthetic for the hand. Real human hands are scanned to produce a 3D model of a finger, and pneumatic networks are implemented within it to produce a biomimetic bending motion. The finger is then partitioned into material sections, and a genetic algorithm based optimization, using finite element analysis, is employed to discover the optimal material for each section. This is based on two biomimetic performance criteria. Two sets of optimizations using two material sets are performed. Promising optimized material arrangements are fabricated using two techniques to validate the optimization routine, and the fabricated and simulated results are compared. We find that the optimization is successful in producing biomimetic soft robotic fingers and that fabrication of the fingers is possible. Limitations and paths for development are discussed. This methodology can be applied for other fluidic soft robotic devices.

Dyslexia in adults is associated with clinical signs of fatty acid deficiency.

Developmental dyslexia is a complex syndrome whose exact cause remains unknown. It has been suggested that a problem with fatty acid metabolism may play a role, particularly in relation to the visual symptoms exhibited by many dyslexics. We explored this possibility using two self-report questionnaires, designed on the basis of clinical experience, to assess (1) clinical signs of fatty acid deficiency; and (2) symptoms associated with dyslexia in known dyslexic and non-dyslexic subjects. Dyslexic signs and symptoms included the auditory-linguistic and spoken language difficulties traditionally associated with the disorder, as well as visual problems (both with reading and more generally) and motor problems. Fatty acid deficiency signs were significantly elevated in dyslexic subjects relative to controls, particularly within males (P<0.001). In addition, the severity of these clinical signs of fatty acid deficiency was strongly correlated with the severity of dyslexic signs and symptoms not only in the visual domain, but also with respect to auditory, linguistic and motor problems. The pattern of relationships differed somewhat between dyslexic and control groups, and sex differences were also observed. Our findings support the hypothesis that fatty acid metabolism may be abnormal in developmental dyslexia, and indicate the need for further studies using more objective measures.

Psychosocial Issues Associated with Short Stature.

Adolescents do not innately conclude that being short is undesirable; they learn it through environmental interactions. The authors of this chapter address society's expectations and perceptions regarding short stature as well as the effects of growth hormone treatment on the psychosocial status of both children and adults. They conclude that all short children should have the benefit of the evaluation and management of psychosocial problems.