Trunk lean and toe out gait strategies impact on lower limb joints.

Gait retraining as a non-invasive prospective approach to restore mechanical loading at the knee joint and slowing down knee osteoarthritis (OA) progression shows great promise. However, the impact of gait modifications such as an increase in foot progression angle (FPA) or lateral trunk lean (LTL) on the ankle and hip is not yet well understood. Thus, the goal of this study is to provide insight on the impact of FPA and LTL on the sagittal and frontal external moments at the ankle and hip of healthy participants. We hypothesize that there is an optimum, for which an increase in FPA and/or LTL minimize the knee adduction moment (KAM) without increasing significantly the frontal and sagittal external moments at the ankle and hip during gait. To test this hypothesis, 23 participants performed walking trials with modified FPA and/or LTL angles following a real-time visual feedback. The hypothesis was not confirmed and while not all the gait modifications performed by the participants in this study reduced the KAM, they significantly increased the sagittal moment at the ankle and the frontal moment at the hip. This study highlights the importance to consider the biomechanical consequences of gait modifications on the ankle and hip before considering a clinical application of gait retraining approaches.

Forearm High-Density Electromyography Data Visualization and Classification with Machine Learning for Hand Prosthesis Control.

Electromyography offers a way to interface an amputee's resilient muscles to control a bionic prosthesis. While myoelectric prostheses are promising, user acceptance of these devices remain low due to a lack of intuitiveness and ease-of-use. Using a low-cost wearable flexible electrodes array, the proposed system leverages high-density surface electromyography (HD-EMG) and deep learning techniques to classify forearm muscle contractions. These techniques allow for increased intuitiveness and ease-of-use of a myoelectric control scheme with a single easy-to-install electrodes apparatus. This paper proposes a flexible electrodes array construction using standard printed circuit board manufacturing processes for low-cost and quick design-to-production cycles. HD-EMG dataset visualization with t-distributed Stochastic Neighbor Embedding (t-SNE) is introduced, and offline classification results of the wearable gesture recognition system for hand prosthesis control are validated on a group of 8 able-bodied subjects. Using a majority vote on 5 successive inferences, a median recognition accuracy of 98.61 % was obtained across the group for an 8 gestures set. For a 6 gestures set containing commonly used prosthesis positions, the median accuracy reached 99.57 % with the majority vote.

A Wearable Wireless Armband Sensor for High-Density Surface Electromyography Recording.

This paper presents a portable and modular wireless multichannel sensor system for high-density surface electromyography (HD-sEMG) signals acquisition. Featuring low-power and high-quality off-the-shelf components such as the Intan Technologies RHD2132 digital electrophysiology interface chip, the current iteration of the proposed sensor system allows the recording of 32 surface electromyography (sEMG) channels, each at a sampling rate of 1 kHz, and a sample resolution of 16 bits. It features the RHD2132's typical input-referred noise of 2.4 µVrms, with <; 15% variation with amplifier bandwidth as specified by the manufacturer, and a total power consumption of 49.5 mW. Data is sent in real-time to a base station using a 2.4-GHz industrial, scientific and medical (ISM) wireless link. Along with the recording platform, the integrated sensor system includes a dry surface electrodes array prototype directly built on a printed circuit board. Intended for complex muscles activity patterns detection on the forearm, the flexible 32 surface electrodes array is designed to be placed flat or to fit a curved area like the forearm in a hand gestures recognition prosthetic system. In such applications, this device will offer improved prosthesis control scheme intuitiveness and ease-of-use. Among other core features of the system are its compact, light-weight and easy to install physical design. The complete system fits on a 2 by 6.5 cm2 printed circuit board mounted on a 7.6 by 11.8 cm2 electrodes array. HD-sEMG user forearm output data collected with the system is presented with a proposed frequency-time-space cross-domain preprocessing method for visualization of HD-EMG data and building training datasets.

Intuitive wireless control of a robotic arm for people living with an upper body disability.

Assistive Technologies (ATs) also called extrinsic enablers are useful tools for people living with various disabilities. The key points when designing such useful devices not only concern their intended goal, but also the most suitable human-machine interface (HMI) that should be provided to users. This paper describes the design of a highly intuitive wireless controller for people living with upper body disabilities with a residual or complete control of their neck and their shoulders. Tested with JACO, a six-degree-of-freedom (6-DOF) assistive robotic arm with 3 flexible fingers on its end-effector, the system described in this article is made of low-cost commercial off-the-shelf components and allows a full emulation of JACO's standard controller, a 3 axis joystick with 7 user buttons. To do so, three nine-degree-of-freedom (9-DOF) inertial measurement units (IMUs) are connected to a microcontroller and help measuring the user's head and shoulders position, using a complementary filter approach. The results are then transmitted to a base-station via a 2.4-GHz low-power wireless transceiver and interpreted by the control algorithm running on a PC host. A dedicated software interface allows the user to quickly calibrate the controller, and translates the information into suitable commands for JACO. The proposed controller is thoroughly described, from the electronic design to implemented algorithms and user interfaces. Its performance and future improvements are discussed as well.