Combining Surgical Innovations in Amputation Surgery-Robotic Harvest of the Rectus Abdominis Muscle, Transplantation and Targeted Muscle Reinnervation Improves Myocontrol Capability and Pain in a Transradial Amputee.

Adding robotic surgery to bionic reconstruction might open a new dimension. The objective was to evaluate if a robotically harvested rectus abdominis (RA) transplant is a feasible procedure to improve soft-tissue coverage at the residual limb (RL) and serve as a recipient for up to three nerves due to its unique architecture and to allow the generation of additional signals for advanced myoelectric prosthesis control. A transradial amputee with insufficient soft-tissue coverage and painful neuromas underwent the interventions and was observed for 18 months. RA muscle was harvested using robotic-assisted surgery and transplanted to the RL, followed by end-to-end neurroraphy to the recipient nerves of the three muscle segments to reanimate radial, median, and ulnar nerve function. The transplanted muscle healed with partial necrosis of the skin mesh graft. Twelve months later, reliable, and spatially well-defined Hoffmann-Tinel signs were detectable at three segments of the RA muscle flap. No donor-site morbidities were present, and EMG activity could be detected in all three muscle segments. The linear discriminant analysis (LDA) classifier could reliably distinguish three classes within 1% error tolerance using only the three electrodes on the muscle transplant and up to five classes outside the muscle transplant. The combination of these surgical procedure advances with emerging (myo-)control technologies can easily be extended to different amputation levels to reduce RL complications and augment control sites with a limited surface area, thus facilitating the usability of advanced myoelectric prostheses.

HCV and HCC Tango-Deciphering the Intricate Dance of Disease: A Review Article.

Hepatitis C virus (HCV) is a major cause of hepatocellular carcinoma (HCC) accounting for around one-third of all HCC cases. Prolonged inflammation in chronic hepatitis C (CHC), maintained through a variety of pro- and anti-inflammatory mediators, is one of the aspects of carcinogenesis, followed by mitochondrial dysfunction and oxidative stress. Immune response dysfunction including the innate and adaptive immunity also plays a role in the development, as well as in the recurrence of HCC after treatment. Some of the tumor suppressor genes inhibited by the HCV proteins are p53, p73, and retinoblastoma 1. Mutations in the telomerase reverse transcriptase promoter and the oncogene catenin beta 1 are two more important carcinogenic signaling pathways in HCC associated with HCV. Furthermore, in HCV-related HCC, numerous tumor suppressor and seven oncogenic genes are dysregulated by epigenetic changes. Epigenetic regulation of gene expression is considered as a lasting "epigenetic memory", suggesting that HCV-induced changes persist and are associated with liver carcinogenesis even after cure. Epigenetic changes and immune response dysfunction are recognized targets for potential therapy of HCC.

GPX3 Variant Genotype Affects the Risk of Developing Severe Forms of COVID-19.

In SARS-CoV-2 infection, excessive activation of the immune system intensively increases reactive oxygen species levels, causing harmful hyperinflammatory and oxidative state cumulative effects which may contribute to COVID-19 severity. Therefore, we assumed that antioxidant genetic profile, independently and complemented with laboratory markers, modulates COVID-19 severity. The study included 265 COVID-19 patients. Polymorphism of GSTM1, GSTT1, Nrf2 rs6721961, GSTM3 rs1332018, GPX3 rs8177412, GSTP1 rs1695, GSTO1 rs4925, GSTO2 rs156697, SOD2 rs4880 and GPX1 rs1050450 genes was determined with appropriate PCR-based methods. Inflammation (interleukin-6, CRP, fibrinogen, ferritin) and organ damage (urea, creatinine, transaminases and LDH) markers, complete blood count and coagulation status (d-dimer, fibrinogen) were measured. We found significant association for COVID-19 progression for patients with lymphocytes below 1.0 × 109/L (OR = 2.97, p = 0.002). Increased IL-6 and CRP were also associated with disease progression (OR = 8.52, p = 0.001, and OR = 10.97, p < 0.001, respectively), as well as elevated plasma AST and LDH (OR = 2.25, p = 0.021, and OR = 4.76, p < 0.001, respectively). Of all the examined polymorphisms, we found significant association with the risk of developing severe forms of COVID-19 for GPX3 rs8177412 variant genotype (OR = 2.42, p = 0.032). This finding could be of particular importance in the future, complementing other diagnostic tools for prediction of COVID-19 disease course.

Vibrotactile mapping of the upper extremity: Absolute perceived intensity is location-dependent; perception of relative changes is not.

Vibrotactile sensation is an essential part of the sense of touch. In this study, the localized vibrotactile sensation of the arm-shoulder region was quantified in 10 able-bodied subjects. For this analysis, the six relevant dermatomes (C3-T2) and three segments-the lower arm, the upper arm, and the shoulder region were studied. For psychometric evaluation, tasks resulting in the quantification of sensation threshold, just noticeable difference, Weber fraction, and perception of dynamically changing vibrotactile stimuli were performed. We found that healthy subjects could reliably detect vibration in all tested regions at low amplitude (2-6% of the maximal amplitude of commonly used vibrotactors). The detection threshold was significantly lower in the lower arm than that in the shoulder, as well as ventral in comparison with the dorsal. There were no significant differences in Weber fraction (20%) detectable between the studied locations. A compensatory tracking task resulted in a significantly higher average rectified error in the shoulder than that in the upper arm, while delay and correlation coefficient showed no difference between the regions. Here, we presented a conclusive map of the vibrotactile sense of the healthy upper limb. These data give an overview of the sensory bandwidth that can be achieved with vibrotactile stimulation at the arm and may help in the design of vibrotactile feedback interfaces (displays) for the hand/arm/shoulder-region.

Legal document assembly system for introducing law students with legal drafting.

In this paper, we present a method for introducing law students to the writing of legal documents. The method uses a machine-readable representation of the legal knowledge to support document assembly and to help the students to understand how the assembly is performed. The knowledge base consists of enacted legislation, document templates, and assembly instructions. We propose a system called LEDAS (LEgal Document Assembly System) for the interactive assembly of legal documents. It guides users through the assembly process and provides explanations of the interconnection between input data and claims stated in the document. The system acts as a platform for practicing drafting skills and has great potential as an education tool. It allows teachers to configure the system for the assembly of some particular type of legal document and then enables students to draft the documents by investigating which information is relevant for these documents and how the input data shape the final document. The generated legal document is complemented by a graphical representation of legal arguments expressed in the document. The system is based on existing legal standards to facilitate its introduction in the legal domain. Applicability of the system in the education of future lawyers is positively evaluated by the group of law students and their TA. Supplementary Information: The online version contains supplementary material available at 10.1007/s10506-022-09339-2.

Electrotactile and Vibrotactile Feedback Enable Similar Performance in Psychometric Tests and Closed-Loop Control.

Electro- and vibro-tactile stimulation are commonly employed for feedback in closed-loop human-machine interfacing. Although these feedback systems have been extensively investigated individually, they are rarely objectively compared. In this study, two state-of-the-art stimulation units (concentric electrode and C2-tactor) similar in shape and size were compared in psychometric and online control tests. The just noticeable difference and number of discriminable levels for intensity and frequency modulation were determined across values of carrier frequency and intensity, respectively. Next, subjects performed a compensatory tracking task, in which the feedback encoded the momentary tracking error. In the psychometric tests, intensity modulation outperformed frequency modulation and electrotactile stimulation enabled significantly higher resolution than vibrotactile stimulation, for the same carrier frequency. However, for the best-case settings (eletro-tactile: 100 Hz; vibro-tactile: 200 Hz), the two stimulation modalities were equivalent in the psychometric tests and in the online control tests, where the two stimulation methods resulted in similar correlation and deviation between the target and the generated trajectory. Time delay was slightly but significantly lower for the vibrotactile modality. Overall, the present assessment shows that despite psychometric differences between the two stimulation methods, they enable similar online control performance when parameters are optimally selected for each modality.

The effect of calibration parameters on the control of a myoelectric hand prosthesis using EMG feedback.

Objective.The implementation of somatosensory feedback in upper limb myoelectric prostheses is an important step towards the restoration of lost sensory-motor functions. EMG feedback is a recently proposed method for closing the control loop wherein the myoelectric signal that drives the prosthesis is also used to generate the feedback provided to the user. Therefore, the characteristics of the myoelectric signal (variability and sensitivity) are likely to significantly affect the ability of the subject to utilize this feedback for online control of the prosthesis.Approach.In the present study, we investigated how the cutoff frequency of the low-pass filter (0.5, 1 and 1.5 Hz) and normalization value (20%, 40% and 60% of the maximum voluntary contraction (MVC)), that are used for the generation of the myoelectric signal, affect the quality of closed-loop control with EMG feedback. Lower cutoff and normalization decrease the intrinsic variability of the EMG but also increase the time lag between the contraction and the feedback (cutoff) as well as the sensitivity of the myoelectric signal (normalization). Ten participants were asked to generate three grasp force levels with a myoelectric prosthetic hand, while receiving five-level vibrotactile EMG feedback, over nine experimental runs (all parameter combinations).Main results.The outcome measure was the success rate (SR) in achieving the appropriate level of myoelectric signal (primary outcome) and grasping force (secondary outcome). Overall, the experiments demonstrated that EMG feedback provided robust control across conditions. Nevertheless, the performance was significantly better for the lowest cutoff (0.5 Hz) and higher normalization (40% and 60%). The highest SR for the EMG was 71.9%, achieved in the condition (40% MVC and 0.5 Hz), and this was 24.1% higher than that in the condition (20% MVC and 1.5 Hz), which resulted in the lowest performance. The SR for the force followed a similar trend.Significance.This is the first study that systematically explored the parameter space for the calibration of EMG feedback, which is a critical step for the future clinical application of this approach.

Impact of Shared Control Modalities on Performance and Usability of Semi-autonomous Prostheses.

Semi-autonomous (SA) control of upper-limb prostheses can improve the performance and decrease the cognitive burden of a user. In this approach, a prosthesis is equipped with additional sensors (e.g., computer vision) that provide contextual information and enable the system to accomplish some tasks automatically. Autonomous control is fused with a volitional input of a user to compute the commands that are sent to the prosthesis. Although several promising prototypes demonstrating the potential of this approach have been presented, methods to integrate the two control streams (i.e., autonomous and volitional) have not been systematically investigated. In the present study, we implemented three shared control modalities (i.e., sequential, simultaneous, and continuous) and compared their performance, as well as the cognitive and physical burdens imposed on the user. In the sequential approach, the volitional input disabled the autonomous control. In the simultaneous approach, the volitional input to a specific degree of freedom (DoF) activated autonomous control of other DoFs, whereas in the continuous approach, autonomous control was always active except for the DoFs controlled by the user. The experiment was conducted in ten able-bodied subjects, and these subjects used an SA prosthesis to perform reach-and-grasp tasks while reacting to audio cues (dual tasking). The results demonstrated that, compared to the manual baseline (volitional control only), all three SA modalities accomplished the task in a shorter time and resulted in less volitional control input. The simultaneous SA modality performed worse than the sequential and continuous SA approaches. When systematic errors were introduced in the autonomous controller to generate a mismatch between the goals of the user and controller, the performance of SA modalities substantially decreased, even below the manual baseline. The sequential SA scheme was the least impacted one in terms of errors. The present study demonstrates that a specific approach for integrating volitional and autonomous control is indeed an important factor that significantly affects the performance and physical and cognitive load, and therefore these should be considered when designing SA prostheses.

Clostridioides difficile ribotype distribution in a large teaching hospital in Serbia.

BACKGROUND: The global epidemic of nosocomial diarrhea caused by Clostridioides (Clostridium) difficile started in 2000, with high mortality rates and emergence of a new hypervirulent strain NAP1/BI/027. The aim of this study was to assess the presence of ribotype 027 and other C. difficile ribotypes in a Serbian University Hospital, compare the temporal variability of ribotypes 3 years apart, as well as to compare clinical, demographic and laboratory characteristics and disease outcome among patients infected with 027 and non-027 ribotype. This was a prospective observational cohort study addressing 4-month intervals during 2014/2015 and 2017/2018. RESULTS: Ribotyping was performed in 64 non-duplicate C. difficile strains. Ribotype 027 was the most prevalent, and was detected in 53 (82.8%) patients (43/45 and 10/19 patients in 2014-2015 and 2017/2018, respectively). Other detected ribotypes were 001/072 in 4 (6.3%), 002 in 4 (6.3%), 014/020 in 2 (3.1%) and 176 in 1 (1.5%) patient. The percentage of the patients infected with ribotype 027 significantly decreased during the 3-year period, from 95.6 to 52.6% (p < 0.001). Ribotype 027 infection was associated with fluoroquinolone treatment more frequently than infection with other ribotypes [33 (62.3%) vs. 2 (18.2%), p = 0.010)]. A severe C. difficile infection was diagnosed more often in patients with the detected ribotype 027 compared to those infected with non-027 ribotypes (p = 0.006). No significant difference in the mortality and recurrence rates was found between the patients infected with ribotype 027 and those infected with other ribotypes [10/53 (18.8%) vs. 2/11 (18.2%), p = 0.708, and 10/35 (28.6%) vs. 0/2 (0%), p = 1.000, respectively]. CONCLUSION: Clostridium difficile ribotype 027 was the most prevalent ribotype among patients in a large Serbian hospital, but there is a clear decreasing trend.

Full-endoscopic interlaminar operations in lumbar compressive lesions surgery: prospective study of 350 patients - "ENDOS" Study.

BACKGROUND: Full-endoscopic operations of lumbar spine are truly minimally invasive surgical procedures. Endoscopic techniques have become the standard in many areas because of the advantages they offer intraoperatively and after surgery. With the interlaminar and transforaminal approach, two full-endoscopic procedures are available for lumbar compressive lesion operations. Our aim was to present and explain all aspects of the full-endoscopic operative technique, and presentation of results of lumbar discectomies and monosegmental decompression in full-endoscopic interlaminar technique performed during 3-year period in comparison with conventional microsurgical operations reported in literature. METHODS: A series of 350 patients underwent full-endoscopic interlaminar lumbar discectomy, and spinal canal decompression, during a 3-year period, is analyzed. In addition to general and specific parameters, VAS and ODI scale are used as measuring instruments. RESULTS: In our clinical series of full-endoscopic operations 88% of the patients no longer had leg pain postoperatively, and 7% had only occasional pain. In 7 (2%) patients minor nerve damage resulted in transient paresthesias, and in 2 patients resulted in neurological deficit. Dural tear occurred in 8 (2.3%) patients, and only 1 had reoperation for direct dural repair. The recurrence rate was 5.7% (3.7% had reoperation). Resection of the herniated disc and sufficient decompression was technically possible in all cases. CONCLUSIONS: The clinical results of the full-endoscopic technique are at least equal to those of the conventional microsurgical discectomy with advantages such as reduced tissue trauma, improved patient mobility, and lower overall complication rate. With the possibility of selecting the most adequate approach, lumbar disc herniations inside and outside the spinal canal, can be sufficiently removed using the full-endoscopic technique, when taking the appropriate indication criteria into account.

Closed-Loop Multi-Amplitude Control for Robust and Dexterous Performance of Myoelectric Prosthesis.

In the case of a hand amputation, the affected person can use a myoelectric prosthesis to substitute the missing limb and regain motor functions. Unfortunately, commercial methods for myoelectric control, although robust and simple, are unintuitive and cognitively taxing when applied to an advanced multi-functional prosthesis. The state-of-the-art methods developed in academia are based on machine learning and therefore require long training and suffer from a lack of robustness. This work presents a novel closed-loop multi-level amplitude controller (CMAC), which aims at overcoming these drawbacks. The CMAC implements three degrees-of-freedom (DoF) control by thresholding the muscle contraction intensity during wrist flexion and extension movements. Unique features of the controller are the vibrotactile feedback that communicates the state of the controller to the user and a scheme for proportional control. These components allow exploiting the full dexterity of the prosthesis using a simple two-channel myoelectric interface. The CMAC was compared to a commonly implemented pattern-recognition method (linear discriminant analysis - LDA) using clinically relevant tests in 12 able-bodied and 2 amputee subjects. The experimental assessment demonstrated that CMAC was similarly fast as LDA in dexterous tests (clothespin and cube manipulation), while it was somewhat slower than LDA during a simple, single DoF task (box and blocks). In addition, in all the tasks, LDA and CMAC resulted in a similarly low error rate. On the other hand, to an amputee that could not generate six distinguishable classes using LDA, the CMAC still enabled the control of all the prosthesis DoFs. Importantly, the overall setup and training time in CMAC were significantly lower compared to LDA. In conclusion, the novel method is convenient for clinical applications, and allows substantially higher control dexterity compared to what can be normally achieved using conventional two channel EMG. Therefore, CMAC provides performance comparable to advanced machine-learning algorithms and the robustness and ease of use that is characteristic for the simple two-channel myoelectric interface.

Improving bimanual interaction with a prosthesis using semi-autonomous control.

BACKGROUND: The loss of a hand is a traumatic experience that substantially compromises an individual's capability to interact with his environment. The myoelectric prostheses are state-of-the-art (SoA) functional replacements for the lost limbs. Their overall mechanical design and dexterity have improved over the last few decades, but the users have not been able to fully exploit these advances because of the lack of effective and intuitive control. Bimanual tasks are particularly challenging for an amputee since prosthesis control needs to be coordinated with the movement of the sound limb. So far, the bimanual activities have been often neglected by the prosthetic research community. METHODS: We present a novel method to prosthesis control, which uses a semi-autonomous approach in order to simplify bimanual interactions. The approach supplements the commercial SoA two-channel myoelectric control with two additional sensors. Two inertial measurement units were attached to the prosthesis and the sound hand to detect the movement of both limbs. Once a bimanual interaction is detected, the system mimics the coordination strategies of able-bodied subjects to automatically adjust the prosthesis wrist rotation (pronation, supination) and grip type (lateral, palmar) to assist the sound hand during a bimanual task. The system has been evaluated in eight able-bodied subjects performing functional uni- and bi-manual tasks using the novel method and SoA two-channel myocontrol. The outcome measures were time to accomplish the task, semi-autonomous system misclassification rate, subjective rating of intuitiveness, and perceived workload (NASA TLX). RESULTS: The results demonstrated that the novel control interface substantially outperformed the SoA myoelectric control. While using the semi-autonomous control the time to accomplish the task and the perceived workload decreased for 25 and 27%, respectively, while the subjects rated the system as more intuitive then SoA myocontrol. CONCLUSIONS: The novel system uses minimal additional hardware (two inertial sensors) and simple processing and it is therefore convenient for practical implementation. By using the proposed control scheme, the prosthesis assists the user's sound hand in performing bimanual interactions while decreasing cognitive burden.

Comparative Analysis of Deformation Determination by Applying Fiber-optic 2D Deflection Sensors and Geodetic Measurements.

In the paper the description of an experiment for a comparative analysis of two different methods for deformation determination, geodetic and 2D deflection sensors based on fiber-optic curvature sensors (FOCSs) is given. The experiment is performed by a using specially designed assembly which makes it possible to apply both methods. For performing geodetic measurements, a geodetic micro-network is established. Measurements by applying a 2D deflection sensor and three total stations are carried out for comparison. The data processing comprises graphical and numerical analysis of the results. Based on the presented results the potential of 2D deflection sensor application in structural health monitoring (SHM) procedures is indicated. The analysis of the measurement results also indicates the importance of integrating various types of sensors for obtaining more accurate and more reliable deformation measurements results.

Myocontrol is closed-loop control: incidental feedback is sufficient for scaling the prosthesis force in routine grasping.

BACKGROUND: Sensory feedback is critical for grasping in able-bodied subjects. Consequently, closing the loop in upper-limb prosthetics by providing artificial sensory feedback to the amputee is expected to improve the prosthesis utility. Nevertheless, even though amputees rate the prospect of sensory feedback high, its benefits in daily life are still very much debated. We argue that in order to measure the potential functional benefit of artificial sensory feedback, the baseline open-loop performance needs to be established. METHODS: The myoelectric control of naïve able-bodied subjects was evaluated during modulation of electromyographic signals (EMG task), and grasping with a prosthesis (Prosthesis task). The subjects needed to activate the wrist flexor muscles and close the prosthesis to reach a randomly selected target level (routine grasping). To assess the baseline performance, the tasks were performed with a different extent of implicit feedback (proprioception, prosthesis motion and sound). Finally, the prosthesis task was repeated with explicit visual force feedback. The subjects' ability to scale the prosthesis command/force was assessed by testing for a statistically significant increase in the median of the generated commands/forces between neighboring levels. The quality of control was evaluated by computing the median absolute error (MAE) with respect to the target. RESULTS: The subjects could successfully scale their motor commands and generated prosthesis forces across target levels in all tasks, even with the least amount of implicit feedback (only muscle proprioception, EMG task). In addition, the deviation of the generated commands/forces from the target levels decreased with additional feedback. However, the increase in implicit feedback, from proprioception to prosthesis motion and sound, seemed to have a more substantial effect than the final introduction of explicit feedback. Explicit feedback improved the performance mainly at the higher target-force levels. CONCLUSIONS: The study establishes the baseline performance of myoelectric control and prosthesis grasping force. The results demonstrate that even without additional feedback, naïve subjects can effectively modulate force with good accuracy with respect to that achieved when increasing the amount of feedback information.

The clinical relevance of advanced artificial feedback in the control of a multi-functional myoelectric prosthesis.

BACKGROUND: To effectively replace the human hand, a prosthesis should seamlessly respond to user intentions but also convey sensory information back to the user. Restoration of sensory feedback is rated highly by the prosthesis users, and feedback is critical for grasping in able-bodied subjects. Nonetheless, the benefits of feedback in prosthetics are still debated. The lack of consensus is likely due to the complex nature of sensory feedback during prosthesis control, so that its effectiveness depends on multiple factors (e.g., task complexity, user learning). METHODS: We evaluated the impact of these factors with a longitudinal assessment in six amputee subjects, using a clinical setup (socket, embedded control) and a range of tasks (box and blocks, block turn, clothespin and cups relocation). To provide feedback, we have proposed a novel vibrotactile stimulation scheme capable of transmitting multiple variables from a multifunction prosthesis. The subjects wore a bracelet with four by two uniformly placed vibro-tactors providing information on contact, prosthesis state (active function), and grasping force. The subjects also completed a questionnaire for the subjective evaluation of the feedback. RESULTS: The tests demonstrated that feedback was beneficial only in the complex tasks (block turn, clothespin and cups relocation), and that the training had an important, task-dependent impact. In the clothespin relocation and block turn tasks, training allowed the subjects to establish successful feedforward control, and therefore, the feedback became redundant. In the cups relocation task, however, the subjects needed some training to learn how to properly exploit the feedback. The subjective evaluation of the feedback was consistently positive, regardless of the objective benefits. These results underline the multifaceted nature of closed-loop prosthesis control as, depending on the context, the same feedback interface can have different impact on performance. Finally, even if the closed-loop control does not improve the performance, it could be beneficial as it seems to improve the subjective experience. CONCLUSIONS: Therefore, in this study we demonstrate, for the first time, the relevance of an advanced, multi-variable feedback interface for dexterous, multi-functional prosthesis control in a clinically relevant setting.

FIB-4 and APRI scores for predicting severe fibrosis in chronic hepatitis C - a developing country's perspective in DAA era.

INTRODUCTION: Chronic Hepatitis C Virus (HCV) infection leads to progressive fibrosis making fibrosis staging necessary in the evaluation of such patients. Different fibrosis scores are emerging as possible non-invasive alternatives for liver biopsy. The Fibrosis-4 Index (FIB-4) and AST to Platelet Ratio Index (APRI) scores are the most widely used and the most extensively tested. This study aims to determine if it was possible to accurately use these to identify patients that are unlikely to have severe fibrosis. METHODOLOGY: One hundred and forty-two patients with chronic hepatitis C infection who underwent liver biopsy since January 1st 2014 until May 31st 2017 at the Hospital for Infectious and Tropical Diseases in Belgrade were analyzed. The FIB-4 and APRI scores were calculated for each patient and compared to histologically determined fibrosis stage. RESULTS: A comprehensive statistical analysis was conducted in order to compare patients with and without severe fibrosis and to evaluate the accuracy of the fibrosis scores. Patients with non-severe fibrosis were younger, had higher platelet counts and lower transaminase levels. FIB-4 had an AUC of 0.875 and the APRI score had an AUC of 0.861. No patients with severe fibrosis or cirrhosis had a FIB-4 lower than 1.08. FIB-4 was superior to APRI in identifying patients with severe fibrosis in the study cohort. CONCLUSION: FIB-4 was superior to APRI in the recognition of severe fibrosis. FIB-4 may prove very useful in identifying patients without advanced liver disease, especially if other non-invasive methods are inaccessible.

User adaptation in Myoelectric Man-Machine Interfaces.

State of the art clinical hand prostheses are controlled in a simple and limited way that allows the activation of one function at a time. More advanced laboratory approaches, based on machine learning, offer a significant increase in functionality, but their clinical impact is limited, mainly due to lack of reliability. In this study, we analyse two conceptually different machine learning approaches, focusing on their robustness and performance in a closed loop application. A classification (finite number of classes) and a regression (continuous mapping) based projection of EMG into external commands were applied while artificially introducing non-stationarities in the EMG signals. When tested on ten able-bodied individuals and one transradial amputee, the two methods were similarly influenced by non-stationarities when tested offline. However, in online tests, where the user could adapt his muscle activation patterns to the changed conditions, the regression-based approach was significantly less influenced by the changes in signal features than the classification approach. This observation demonstrates, on the one hand, the importance of online tests with users in the loop for assessing the performance of myocontrol approaches. On the other hand, it also demonstrates that regression allows for a better user correction of control commands than classification.

Tactile feedback is an effective instrument for the training of grasping with a prosthesis at low- and medium-force levels.

Grasping is a complex task routinely performed in an anticipatory (feedforward) manner, where sensory feedback is responsible for learning and updating the internal model of grasp dynamics. This study aims at evaluating whether providing a proportional tactile force feedback during the myoelectric control of a prosthesis facilitates learning a stable internal model of the prosthesis force control. Ten able-bodied subjects controlled a sensorized myoelectric prosthesis performing four blocks of consecutive grasps at three levels of target force (30, 50, and 70%), repeatedly closing the fully opened hand. In the first and third block, the subjects received tactile and visual feedback, respectively, while during the second and fourth block, the feedback was removed. The subjects also performed an additional block with no feedback 1 day after the training (Retest). The median and interquartile range of the generated forces was computed to assess the accuracy and precision of force control. The results demonstrated that the feedback was indeed an effective instrument for the training of prosthesis control. After the training, the subjects were still able to accurately generate the desired force for the low and medium target (30 and 50% of maximum force available in a prosthesis), despite the feedback being removed within the session and during the retest (low target force). However, the training was substantially less successful for high forces (70% of prosthesis maximum force), where subjects exhibited a substantial loss of accuracy as soon as the feedback was removed. The precision of control decreased with higher forces and it was consistent across conditions, determined by an intrinsic variability of repeated myoelectric grasping. This study demonstrated that the subject could rely on the tactile feedback to adjust the motor command to the prosthesis across trials. The subjects adjusted the mean level of muscle activation (accuracy), whereas the precision could not be modulated as it depends on the intrinsic myoelectric variability. They were also able to maintain the feedforward command even after the feedback was removed, demonstrating thereby a stable learning, but the retention depended on the level of the target force. This is an important insight into the role of feedback as an instrument for learning of anticipatory prosthesis force control.

GLIMPSE: Google Glass interface for sensory feedback in myoelectric hand prostheses.

OBJECTIVE: Providing sensory feedback to the user of the prosthesis is an important challenge. The common approach is to use tactile stimulation, which is easy to implement but requires training and has limited information bandwidth. In this study, we propose an alternative approach based on augmented reality. APPROACH: We have developed the GLIMPSE, a Google Glass application which connects to the prosthesis via a Bluetooth interface and renders the prosthesis states (EMG signals, aperture, force and contact) using augmented reality (see-through display) and sound (bone conduction transducer). The interface was tested in healthy subjects that used the prosthesis with (FB group) and without (NFB group) feedback during a modified clothespins test that allowed us to vary the difficulty of the task. The outcome measures were the number of unsuccessful trials, the time to accomplish the task, and the subjective ratings of the relevance of the feedback. MAIN RESULTS: There was no difference in performance between FB and NFB groups in the case of a simple task (basic, same-color clothespins test), but the feedback significantly improved the performance in a more complex task (pins of different resistances). Importantly, the GLIMPSE feedback did not increase the time to accomplish the task. Therefore, the supplemental feedback might be useful in the tasks which are more demanding, and thereby less likely to benefit from learning and feedforward control. The subjects integrated the supplemental feedback with the intrinsic sources (vision and muscle proprioception), developing their own idiosyncratic strategies to accomplish the task. SIGNIFICANCE: The present study demonstrates a novel self-contained, ready-to-deploy, wearable feedback interface. The interface was successfully tested and was proven to be feasible and functionally beneficial. The GLIMPSE can be used as a practical solution but also as a general and flexible instrument to investigate closed-loop prosthesis control.

Multichannel Electrotactile Feedback With Spatial and Mixed Coding for Closed-Loop Control of Grasping Force in Hand Prostheses.

Providing somatosensory feedback to the user of a myoelectric prosthesis is an important goal since it can improve the utility as well as facilitate the embodiment of the assistive system. Most often, the grasping force was selected as the feedback variable and communicated through one or more individual single channel stimulation units (e.g., electrodes, vibration motors). In the present study, an integrated, compact, multichannel solution comprising an array electrode and a programmable stimulator was presented. Two coding schemes (15 levels), spatial and mixed (spatial and frequency) modulation, were tested in able-bodied subjects, psychometrically and in force control with routine grasping and force tracking using real and simulated prosthesis. The results demonstrated that mixed and spatial coding, although substantially different in psychometric tests, resulted in a similar performance during both force control tasks. Furthermore, the ideal, visual feedback was not better than the tactile feedback in routine grasping. To explain the observed results, a conceptual model was proposed emphasizing that the performance depends on multiple factors, including feedback uncertainty, nature of the task and the reliability of the feedforward control. The study outcomes, specific conclusions and the general model, are relevant for the design of closed-loop myoelectric prostheses utilizing tactile feedback.