Hand and face somatotopy shown using MRI-safe vibrotactile stimulation with a novel soft pneumatic actuator (SPA)-skin interface.

The exact somatotopy of the human facial representation in the primary somatosensory cortex (S1) remains debated. One reason that progress has been hampered is due to the methodological challenge of how to apply automated vibrotactile stimuli to face areas in a manner that is: (1) reliable despite differences in the curvatures of face locations; and (2) MR-compatible and free of MR-interference artefacts when applied in the MR head-coil. Here we overcome this challenge by using soft pneumatic actuator (SPA) technology. SPAs are made of a soft silicon material and can be in- or deflated by means of airflow, have a small diameter, and are flexible in structure, enabling good skin contact even on curved body surfaces (as on the face). To validate our approach, we first mapped the well-characterised S1 finger layout using this novel device and confirmed that tactile stimulation of the fingers elicited characteristic somatotopic finger activations in S1. We then used the device to automatically and systematically deliver somatosensory stimulation to different face locations. We found that the forehead representation was least distant from the representation of the hand. Within the face representation, we found that the lip representation is most distant from the forehead representation, with the chin represented in between. Together, our results demonstrate that this novel MR compatible device produces robust and clear somatotopic representational patterns using vibrotactile stimulation through SPA-technology.

Age-Dependent Asymmetry of Wrist Position Sense Is Not Influenced by Stochastic Tactile Stimulation.

Stochastic stimulation has been shown to improve movement, balance, the sense of touch, and may also improve position sense. This stimulation can be non-invasive and may be a simple technology to enhance proprioception. In this study, we investigated whether sub-threshold stochastic tactile stimulation of mechanoreceptors reduces age-related errors in wrist position estimation. Fifteen young (24.5±1.5y) and 23 elderly (71.7±7.3y) unimpaired, right-handed adults completed a wrist position gauge-matching experiment. In each trial, the participant's concealed wrist was moved to a target position between 10 and 30° of wrist flexion or extension by a robotic manipulandum. The participant then estimated the wrist's position on a virtual gauge. During half of the trials, sub-threshold stochastic tactile stimulation was applied to the wrist muscle tendon areas. Stochastic stimulation did not significantly influence wrist position sense. In the elderly group, estimation errors decreased non-significantly when stimulation was applied compared to the trials without stimulation [mean constant error reduction Δ µ ( θ c o n o f ) = 0 . 8 ° in flexion and Δ µ ( θ c o n o e ) = 0 . 7 ° in extension direction, p = 0.95]. This effect was less pronounced in the young group [ Δ µ ( θ c o n y ) = 0 . 2 ° in flexion and in extension direction, p = 0.99]. These improvements did not yield a relevant effect size (Cohen's d < 0.1). Estimation errors increased with target angle magnitude in both movement directions. In young participants, estimation errors were non-symmetric, with estimations in flexion [ µ ( θ c o n y f ) = 1 . 8 ° , σ ( θ c o n y f ) = 7 . 0 ° ] being significantly more accurate than in extension [ µ ( θ c o n y e ) = 8 . 3 ° , σ ( θ c o n y e ) = 9 . 3 ° , p < 0.01]. This asymmetry was not present in the elderly group, where estimations in flexion [ µ ( θ c o n o f ) = 7 . 5 ° , σ ( θ c o n o f ) = 9 . 8 ° ] were similar to extension [ µ ( θ c o n o e ) = 7 . 7 ° , σ ( θ c o n o e ) = 9 . 3 ° ]. Hence, young and elderly participants performed equally in extension direction, whereas wrist position sense in flexion direction deteriorated with age (p < 0.01). Though unimpaired elderly adults did not benefit from stochastic stimulation, it cannot be deduced that individuals with more severe impairments of their sensory system do not profit from this treatment. While the errors in estimating wrist position are symmetric in flexion and extension in elderly adults, young adults are more accurate when estimating wrist flexion, an effect that has not been described before.

Closed-Loop Haptic Feedback Control Using a Self-Sensing Soft Pneumatic Actuator Skin.

In this article, we achieve a closed-loop control over haptic feedback, first time for an entirely soft platform. We prototyped a novel self-sensing soft pneumatic actuator (SPA) with soft strain sensors, called SPA-skin, which withstands large multiaxial strains and is capable of high-frequency sensing and actuation. To close-loop control the haptic feedback, the platform requires a cohesively integrated system. Our system consists of a stretchable low profile (<500 µm) SPA and an ultra-compliant thin-metal film strain sensor that create a novel bidirectional platform for tactile sensing via force-tunable vibratory feedback. With this prototype, we demonstrated control of the actuator shape in real time up to 100 Hz at output forces up to 1 N, maintained under variable mechanical loadings. We further characterized the SPA-skin platform for its static and dynamic behavior over a range of actuation amplitudes and frequencies as well as developed an analytical model of this system to predict the actuator inflation state only using the embedded sensor's resistance. Our SPA-skin is a multifunctional multilayer system that can readily be implemented as a high-speed wearable bidirectional interface for contact sensing and vibrotactile feedback.

Author Correction: Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance.

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Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance.

Wearable soft robotic systems are enabling safer human-robot interaction and are proving to be instrumental for biomedical rehabilitation. In this manuscript, we propose a novel, modular, wearable robotic device for human (lumbar) spine assistance that is developed using vacuum driven, soft pneumatic actuators (V-SPA). The actuators can handle large, repetitive loads efficiently under compression. Computational models to capture the complex non-linear mechanical behavior of individual actuator modules and the integrated assistive device are developed using the finite element method (FEM). The models presented can predict system behavior at large values of mechanical deformations and allow for rapid design iterations. It is shown that a single actuator module can be used to obtain a variety of different motion and force profiles and yield multiple degrees of freedom (DOF) depending on the module loading conditions, resulting in high system versatility and adaptability, and efficient replication of the targeted motion range for the human spinal cord. The efficacy of the finite element model is first validated for a single module using experimental results that include free displacement and blocked-forces. These results are then extended to encompass an extensive investigation of bio-mechanical performance requirements from the module assembly for the human spine-assistive device proposed.

A novel pneumatic stimulator for the investigation of noise-enhanced proprioception.

Executing coordinated movements requires that motor and sensory systems cooperate to achieve a motor goal. Impairment of either system may lead to unstable and/or inaccurate movements. In rehabilitation training, however, most approaches have focused on the motor aspects of the control loop. We are examining mechanisms that may enhance the sensory system to improve motor control. More precisely, the effects of stochastic subliminal vibratory tactile stimulation on wrist proprioception. We developed a device - based on a novel soft pneumatic actuator skin technology - to stimulate multiple sites simultaneously and independently. This device applies vibratory stimulation (amplitude < 0.50 mm, bandwidth 20-120 Hz) to the skin overlaying the tendons of a joint to target the receptors in charge of position and movement encoding. It achieves high spatial resolution (< 1 mm2), uses a soft and flexible interface, and has the potential to be used in combination with additional rehabilitation interventions. We conducted a feasibility study with 16 healthy subjects (11 younger - 6 females; 5 older - 2 females) in which a robotic manipulandum moved the subject's wrist to defined positions that had to be matched with a gauge. Comparing trials with and without stimulation we found that stochastic stimulation influenced joint position sense. The device we developed can be readily used in psycho-physical experiments, and subsequently benefit physiotherapy and rehabilitation treatments.