Visual Noise Linearly Influences Tracking Performance.

This study investigates the influence of visual noise on motor performance in three degrees of freedom (DoFs) tracking task including translation against gravity and rotation. Participants were asked to follow a moving target, visually degraded according to four different levels of noise, plus one no-noise condition. Each noise level was represented with ten target replicas normally distributed around the main target's pose with a specific standard deviation. Performance, in term of error between cursor and target, significantly decreased (p < 0.001) with the increase of the standard deviation of the visual noise, in all movement directions. The relation between the level of visual noise and the performance appears to be linear (R2 > 0.8) for each DoF separately, as well as when we combine the translations using the Euclidean norm.

Tele-Impedance Control Approach Using Wearable Sensors.

Tele-operational tasks often suffer from instability issues and limited reliability during unpredictable interactions. We propose a real-time control law reproducing the impedance and kinematic behaviour of a subject's arm (shoulder and elbow) on a remote avatar in a 2-DoF task. The human arm impedance and kinematics are estimated respectively from EMG and M-IMU data and then mapped into the avatar arm through an impedance control. Contrary to literature methods, our portable tele-impedance controller relies only on wearable sensors and enables an easy use in unstructured environments. The good performance (R2> 0.7) of the muscle model used to map on the robot the human stiffness of five healthy subjects indicates the possibility of applying the proposed algorithm for a tele-impedance control.

Human performance in three-hands tasks.

The successful completion of complex tasks like hanging a picture or laparoscopic surgery requires coordinated motion of more than two limbs. User-controlled supernumerary robotic limbs (SL) have been proposed to bypass the need for coordination with a partner in such tasks. However, neither the capability to control multiple limbs alone relative to collaborative control with partners, nor how that capability varies across different tasks, is well understood. In this work, we present an investigation of tasks requiring three-hands where the foot was used as an additional source of motor commands. We considered: (1) how does simultaneous control of three hands compare to a cooperating dyad; (2) how this relative performance was altered by the existence of constraints emanating from real or virtual physical connections (mechanical constraints) or from cognitive limits (cognitive constraints). It was found that a cooperating dyad outperformed a single user in all scenarios in terms of task score, path efficiency and motion smoothness. However, while the participants were able to reach more targets with increasing mechanical constraints/decreasing number of simultaneous goals, the relative difference in performance between a dyad and a participant performing trimanual activities decreased, suggesting further potential for SLs in this class of scenario.

Development and Validation of a Novel Calibration Methodology and Control Approach for Robot-Aided Transcranial Magnetic Stimulation (TMS).

OBJECTIVE: This article presents the development and validation of a new robotic system for Transcranial Magnetic Stimulation (TMS), characterized by a new control approach, and an ad-hoc calibration methodology, specifically devised for the TMS application. METHODS: The robotic TMS platform is composed of a 7 dof manipulator, controlled by an impedance control, and a camera-based neuronavigation system. The proposed calibration method was optimized on the workspace useful for the specific TMS application (spherical shell around the subject's head), and tested on three different hand-eye and robot-world calibration algorithms. The platform functionality was tested on six healthy subjects during a real TMS procedure, over the left primary motor cortex. RESULTS: employing our method significantly decreases ( ) the calibration error by 34% for the position and 19% for the orientation. The robotic TMS platform achieved greater orientation accuracy than the expert operators, significantly reducing orientation errors by 46% ( ). No significant differences were found in the position errors and in the amplitude of the motor evoked potentials (MEPs) between the robot-aided TMS and the expert operators. CONCLUSION: The proposed calibration represents a valid method to significantly reduce the calibration errors in robot-aided TMS applications. Results showed the efficacy of the proposed platform (including the control algorithm) in administering a real TMS procedure, achieving better coil positioning than expert operators, and similar results in terms of MEPs. SIGNIFICANCE: This article spotlights how to improve the performance of a robotic TMS platform, providing a reproducible and low-cost alternative to the few devices commercially available.

Altered Proprioceptive Feedback Influences Movement Kinematics in a Lifting Task.

Movement control process can be considered to take place on at least two different levels: a high, more cognitive level and a low, sensorimotor level. On a high level processing a motor command is planned accordingly to the desired goal and the sensory afference, mainly proprioception, is used to determine the necessary adjustments in order to minimize any discrepancy between predicted and executed action. On a lower level processing, the proprioceptive feedback later employed in high level regulations, is generated by Ia sensory fibers positioned in muscle main proprioceptors: muscle spindles. By entraining the activity of these spindle fibers through 80Hz vibration of triceps distal tendon, we show the intriguing possibility of inducing kinematics adjustments due to negative feedback corrections, during a lifting task.

A virtual reality platform for multisensory integration studies.

A unique virtual reality platform for multisensory integration studies is presented. It allows to provide multimodal sensory stimuli (i.e. auditory, visual, tactile, etc.) ensuring temporal coherence, key factor in cross-modal integration. Four infrared cameras allow to real-time track the human motion and correspondingly control a virtual avatar. A user-friendly interface allows to manipulate a great variety of features (i.e. stimulus type, duration and distance from the participants' body, as well as avatar gender, height, arm pose, perspective, etc.) and to real-time provide quantitative measures of all the parameters. The platform has been validated on two healthy participants testing a reaction time task which combines tactile and visual stimuli, for the investigation of peripersonal space. Results proved the effectiveness of the proposed platform, showing a significant correlation (p=0.013) between the participant's hand distance from the visual stimulus and the reaction time to the tactile stimulus. More participants will be recruited to further investigate the other measures provided by the platform.

Different level of virtualization of sight and touch produces the uncanny valley of avatar's hand embodiment.

Humans increasingly often act through virtual and robotic avatars, which can feed back to their user only virtual sensory information. Since avatar is user's embodiment and body image is mostly based on senses, how virtualization of sensory inputs affects avatar self-attribution is a key question for understanding nowadays human behavior. By manipulating visual and tactile inputs in a series of experiments fashioned after the rubber hand illusion, we assessed the relative weight of the virtualization of sight (Real, Robotic, Virtual) and of touch (Real, Virtual) on artificial hand embodiment. Virtualization decreased embodiment, but unexpectedly lowest embodiment was found when only one sense was virtual. Discordant levels of virtualization of sight and touch elicited revulsion, extending the concept of the uncanny valley to avatar embodiment. Besides timing, spatial constraints and realism of feedback, a matched degree of virtualization of seen and felt stimuli is a further constraint in building the representation of the body.

The economic burden of preventable adverse drug reactions: a systematic review of observational studies.

INTRODUCTION: Adverse drug reactions (ADRs) are an important cause of morbidity and mortality worldwide. They are associated with healthcare costs due to hospital admissions or prolonged length of stay, as well as additional interventions. The aim of this study was to conduct a systematic review of observational studies to evaluate the economic impact of preventable ADRs. AREAS COVERED: Published observational research investigating the cost of preventable ADRs in Western countries (limited to the USA and European countries). EXPERT OPINION: Several reviews have been carried out in the field of the ADR epidemiology but fewer reviews have investigated the economic impact of ADRs, and at the time of writing, none has focused on preventable ADRs. The reason why future research should focus on the costs of preventable ADRs is that both the costs and the negative clinical outcomes are preventable, and as such, are a key point of public health policy action. Nevertheless, the present review highlights an important and sobering limitation of published research on the cost of preventable ADRs, of which the major limitation is the heterogeneity in methods and in reporting which limit what can be known through the summarizing work of a systematic review.

Evaluation of hand-eye and robot-world calibration algorithms for TMS application.

In this paper we compare three approaches to solve the hand-eye and robot-world calibration problem, for their application to a Transcranial Magnetic Stimulation (TMS) system. The selected approaches are: i) non-orthogonal approach (QR24); ii) stochastic global optimization (SGO); iii) quaternion-based (QUAT) method. Performance were evaluated in term of translation and rotation errors, and computational time. The experimental setup is composed of a 7 dof Panda robot (by Franka Emika GmbH) and a Polaris Vicra camera (by Northern Digital Inc) combined with the SofTaxic Optic software (by E.M.S. srl). The SGO method resulted to have the best performance, since it provides lowest errors and high stability over different datasets and number of calibration points. The only drawback is its computational time, which is higher than the other two, but this parameter is not relevant for TMS application. Over the different dataset used in our tests, the small workspace (sphere with radius of 0.05m) and a number of calibration points around 150 allow to achieve the best performance with the SGO method, with an average error of 0.83 ± 0.35mm for position and 0.22 ± 0.12deg for orientation.

A wearable textile for respiratory monitoring: Feasibility assessment and analysis of sensors position on system response.

The interest on wearable textiles to monitor vital signs is growing in the research field and clinical scenario related to the increasing demands of long-term monitoring. Despite several smart textile-based solutions have been proposed for assessing the respiratory status, only a limited number of devices allow the respiratory monitoring in a harsh environment or in different positions of the human body. In this paper, we investigated the performances of a smart textile for respiratory rate monitoring characterized by 12 fiber optic sensors (i.e., fiber Bragg grating) placed on specific landmarks for compartmental analysis of the chest wall movements during quiet breathing. We focused on the analysis of the influence of sensor position on both peak-to-peak amplitude of sensors output and accuracy of respiratory rate measurements. This analysis was performed on two participants, who wore the textile in two positions (i.e., standing and supine). Bland-Altman analysis on respiratory rate showed promising results (better than 0.3 breaths per minute). Referring to the peak-to-peak output amplitude, the abdomen compartment showed the highest excursions in both the enrolled participants and positions. Our findings open up new approaches to design and develop smart textile for respiratory rate monitoring.

Assessing bradykinesia in Parkinson's disease using gyroscope signals.

Parkinson's disease (PD) is a neurodegenerative brain disorder that slowly brings on the dopaminergic neurons death. The depletion of the dopaminergic signal causes the onset of motor symptoms such as tremor, bradykinesia and rigidity. Usually, neurologists regularly monitor motor symptoms and motor fluctuations using the MDS-UPDRS part III clinical scale. Nevertheless, to have a more objective and quantitative evaluation, it is possible to assess the cardinal motor symptoms of PD using wearable sensors and portable robotic devices. Unfortunately while there are several research papers on the use of these devices on PD patients, their use is not so common in clinical practice. In this work we recorded specific MDS-UPDRS motor tasks using magneto-inertial devices, worn by seven PD subjects and seven age-matched controls, in order to deeply analyze the kinematic and dynamic characteristics of goal-directed movements of upper limb, in addition to extract quantitative indices (peak velocity, smoothness, etc) useful for the assessment of motor symptoms. Using only gyroscope signals we looked at those parameters useful to assess bradykinesia. We observed parameters changes from OFF to ON phase congruent with the MDS-UPDRS changes, especially in the frequency domain. Our results suggest the prono-supination task is the more consistent to describe the bradykinesia symptom with the gyroscopes. Probably because of the amplitude of the movement performed. Moreover the peak power looks appropriate for bradykinesia symptom evaluation. We can conclude that, similar to the studies in which tremor symptom is evaluated, it is possible to monitor the bradykinesia using few wearable sensors and few simple parameters.

A teleoperated control approach for anthropomorphic manipulator using magneto-inertial sensors.

In this paper we propose and validate a teleoperated control approach for an anthropomorphic redundant robotic manipulator, using magneto-inertial sensors (IMUs). The proposed method allows mapping the motion of the human arm (used as the master) on the robot end-effector (the slave). We record arm movements using IMU sensors, and calculate human forward kinematics to be mapped on robot movements. In order to solve robot kinematic redundancy, we implemented different algorithms for inverse kinematics that allows imposing anthropomorphism criteria on robot movements. The main objective is to let the user to control the robotic platform in an easy and intuitive manner by providing the control input freely moving his/her own arm and exploiting redundancy and anthropomorphism criteria in order to achieve human-like behaviour on the robot arm. Therefore, three inverse kinematics algorithms are implemented: Damped Least Squares (DLS), Elastic Potential (EP) and Augmented Jacobian (AJ). In order to evaluate the performance of the algorithms, four healthy subjects have been asked to control the motion of an anthropomorphic robot arm (i.e. the Kuka Light Weight Robot 4+) through four magneto-inertial sensors (i.e. Xsens Wireless Motion Tracking sensors - MTw) positioned on their arm. Anthropomorphism indices and position and orientation errors between the human hand pose and the robot end-effector pose were evaluated to assess the performance of our approach.

Design and development of a sensorized cylindrical object for grasping assessment.

Aim of this work is to design and develop an instrumented cylindrical object equipped with force sensors, which is able to assess grasping performance of both human and robotic hands. The object is made of two concentric shells between which sixteen piezoresistive sensors have been located in order to measure the forces applied by the hand fingers during grasping. Furthermore, a magneto-inertial unit has been positioned inside the object for acquiring information about object orientation during manipulation. A wireless communication between the electronic boards, responsible for acquiring the data from the sensors, and a remote laptop has been guaranteed. The object has been conceived in such a way to be adopted for evaluating both power and precision grasps and for measuring the forces applied by each finger of the hand. In order to evaluate object performance, a finite element analysis for estimating the deformation of the external shell for different force values has been carried out. Moreover, to evaluate object sensitivity, a static analysis of the force transmitted by the external shell to the underlying sensors has been performed by varying the thickness of the shells. The obtained preliminary results have validated the feasibility of using the developed object for assessing grasping performed by human and robotic hands.

Design and preliminary assessment of a smart textile for respiratory monitoring based on an array of Fiber Bragg Gratings.

Comfortable and easy to wear smart textiles have gained popularity for continuous respiratory monitoring. Among different emerging technologies, smart textiles based on fiber optic sensors (FOSs) have several advantages, like Magnetic Resonance (MR)-compatibility and good metrological properties. In this paper we report on the development and assessment of an MR-compatible smart textiles based on FOSs for respiratory monitoring. The system consists of six fiber Bragg grating (FBG) sensors glued on the textile to monitor six compartments of the chest wall (i.e., right and left upper thorax, right and left abdominal rib cage, and right and left abdomen). This solution allows monitoring both global respiratory parameters and each compartment volume change. The system converts thoracic movements into strain measured by the FBGs. The positioning of the FBGs was optimized by experiments performed using an optoelectronic system. The feasibility of the smart textile was assessed on 6 healthy volunteers. Experimental data were compared to the ones estimated by an optoelectronic plethysmography used as reference. Promising results were obtained on both breathing period (maximum percentage error is 1.14%), inspiratory and expiratory period, as well as on total volume change (mean percentage difference between the two systems was ~14%). The Bland-Altman analysis shows a satisfactory accuracy for the parameters under investigation. The proposed system is safe and non-invasive, MR-compatible, and allows monitoring compartmental volumes.

Biomechanical and neural changes evaluation induced by prolonged use of non-stable footwear: a systematic review.

The aim of this review is to collect and discuss the current best evidence published in literature about the effect of the Masai Barefoot Technology(MBT) shoes on gait and muscle activation and try to draw conclusions on the possible benefits. We searched Medline, CINAHL, Embase and the Cochrane Central Registry of Controlled Trials. The reference lists of the previously selected articles were then examined by hand. Only studies comparing biomechanical and clinical outcomes were selected. Review, anatomical studies, letter to editor and instructional course were excluded. Finally, all the resulting articles were reviewed and discussed by all the authors to further confirm their suitability for this review: in the end, 22 articles were included. A total of 532 patients presenting a mean age of 34.3 years were studied. All patients evaluated were healthy or amateur sports except in two studies where only obese subjects and knee osteoarthritis patients were involved. Seven studies evaluated only male subjects, whereas four studies evaluated only female. Twelve of twenty-two studies performed electromyographic analyses. Weight was reported in 19 studies, whereas body mass index were reported only in a five studies. All studies reported kinematic analysis of shoe effects and compared the relationship between muscle recruitment and electromyographic activity. Unstable footwears were shown to immediately alter the stability in gait during daily-life activities. The center of body pressure is moved posteriorly with a consequent posterior displacement of the upper part of body in order to regain an appropriate body balance, and these postural changes are associated with an overall increase in the activity of lumbar erector spine muscles, as well as certain lower limb muscles. Current literature provides enough cues to conclude for a beneficial role of MBT shoes in the postural and proprioceptive recovery, but from the same literature cannot be drown clear and appropriate guidance to determine more in detail their indication for specific pathological conditions or for particular phases of the musculoskeletal recovery process.

Development and preliminary testing of an instrumented object for force analysis during grasping.

This paper presents the design and realization of an instrumented object for force analysis during grasping. The object, with spherical shape, has been constructed with three contact areas in order to allow performing a tripod grasp. Force Sensing Resistor (FSR) sensors have been employed for normal force measurements, while an accelerometer has been used for slip detection. An electronic board for data acquisition has been embedded into the object, so that only the cables for power supply exit from it. Validation tests have been carried out for: (i) comparing the force measurements with a ground truth; (ii) assessing the capability of the accelerometer to detect slippage for different roughness values; (iii) evaluating object performance in grasp trials performed by a human subject.

Design, development and experimental validation of a non-invasive device for recording respiratory events during bottle feeding.

In newborns, a poor coordination between sucking, swallowing and breathing may undermine the effectiveness of oral feeding and signal immaturity of Central Nervous System. The aim of this work is to develop and validate a non-invasive device for recording respiratory events of newborns during bottle feeding. The proposed device working principle is based on the convective heat exchanged between two hot bodies and the infants' breathing. The sensing elements are inserted into a duct and the gas exchanged by infants is conveyed into this duct thanks to an ad hoc designed system to be mounted on a commercial feeding bottle. Two sets of experiments have been carried out in order to investigate the discrimination threshold of the device and characterize the sensor response at oscillating flows. The effect of distance and tilt between nostrils and device, and the breathing frequency, have been investigated simulating nostrils and neonatal respiratory pattern. The device has a discrimination threshold lower than 0.5 L/min at both 10° and 20° of tilt. Distance for these two settings does not affect the threshold in the investigated range (10-20 mm). Moreover, the device is able to detect breathing events, and to discriminate the onset of expiratory phase, during a neonatal respiratory task delivered by a lung simulator. The results foster the successful application of this device to the assessment of the temporal breathing pattern of newborns during bottle feeding with a non-invasive approach.

A transistors-based, bidirectional flowmeter for neonatal ventilation: design and experimental characterization.

A bidirectional, low cost flowmeter for neonatal artificial ventilation, suitable for application in mono-patient breathing circuits, is described here. The sensing element consists of two nominally identical bipolar junction transistors employed as hot bodies. The sensor working principle is based on the convective heat transfer between the transistors, heated by Joule phenomenon, and the colder hitting fluid which represents the measurand. The proposed design allows the sensor to discriminate flow direction. Static calibration has been carried out in a range of flowrate values (from -8 L·min(-1) up to +8 L L·min(-1)) covering the ones employed in neonatal ventilation, at different pipe diameters (ie., 10 mm and 30 mm) and collector currents (i.e., 500 mA, 300 mA, and 100 mA) in order to assess the influence of these two parameters on sensor's response. Results show that the configuration with a pipe diameter of 10 mm at the highest collector current guarantees the highest sensitivity (i.e., 763 mV/Lmin1 at low flowrate ± 1 L-min(-1)) and ensures the minimum dead space (2 mL vs 18 mL for 30 mm of diameter). On the other hand, the 30 mm pipe diameter allows extending the range of measurement (up to ±6 L-min 1 vs ±3.5 L· min(-1) at 10 mm), and improving both the discrimination threshold (<;0.1 L·min-(1)) and the symmetry of response. These characteristics together with the low dead space and low cost foster its application to neonatal ventilation.

Muscular activity when walking in a non-anthropomorphic wearable robot.

Wearable robots should be designed not to alter human physiological motion. Perturbations introduced by a robot can be quantified by measuring EMG activity. This paper presents tests on the LENAR, an intrinsically back-drivable non-anthropomorphic lower limb wearable robot designed to provide hip and knee flexion/extension assistance. In previous works the robot was demonstrated to exhibit low mechanical impedance and to introduce minor alterations to human kinematic patterns during walking. In this paper muscular activity is assessed, demonstrating small alterations in the EMG patterns during the interaction with the robot, in both unpowered and assistive mode.

An MR-compatible force sensor based on FBG technology for biomedical application.

Fiber Bragg Grating (FBG) technology is very attractive to develop sensors for the measurement of thermal and mechanical parameters in biological applications, particularly in presence of electromagnetic interferences. This work presents the design, working principle and experimental characterization of a force sensor based on two FBGs, with the feature of being compatible with Magnetic Resonance. Two prototypes based on different designs are considered and characterized: 1) the fiber with the FBGs is encapsulated in a polydimethylsiloxane (PDMS) sheet; 2) the fiber with the FBGs is free without the employment of any polymeric layer. Results show that the prototype which adopts the polymeric sheet has a wider range of measurement (4200 mN vs 250 mN) and good linearity; although it has lower sensitivity (≈0.1 nm-N(1) vs 7 nm-N(1)). The sensor without polymeric layer is also characterized by employing a differential configuration which allows neglecting the influence of temperature. This solution improves the linearity of the sensor, on the other hand the sensitivity decreases. The resulting good metrological properties of the prototypes here tested make them attractive for the intended application and in general for force measurement during biomedical applications in presence of electromagnetic interferences.