Characterization, Experimental Validation and Pilot User Study of the Vibro-Inertial Bionic Enhancement System (VIBES).

This study presents the characterization and validation of the VIBES, a wearable vibrotactile device that provides high-frequency tactile information embedded in a prosthetic socket. A psychophysical characterization involving ten able-bodied participants is performed to compute the Just Noticeable Difference (JND) related to the discrimination of vibrotactile cues delivered on the skin in two forearm positions, with the goal of optimising vibrotactile actuator position to maximise perceptual response. Furthermore, system performance is validated and tested both with ten able-bodied participants and one prosthesis user considering three tasks. More specifically, in the Active Texture Identification, Slippage and Fragile Object Experiments, we investigate if the VIBES could enhance users' roughness discrimination and manual usability and dexterity. Finally, we test the effect of the vibrotactile system on prosthetic embodiment in a Rubber Hand Illusion (RHI) task. Results show the system's effectiveness in conveying contact and texture cues, making it a potential tool to restore sensory feedback and enhance the embodiment in prosthetic users.

VIBES: Vibro-Inertial Bionic Enhancement System in a Prosthetic Socket.

The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first contact) arising from the interaction of the prosthetic device with external items. This study describes a wearable vibrotactile system for high-frequency tactile information embedded in the prosthetic socket. The device consists of two compact planar vibrotactile actuators in direct contact with the user's skin to transmit tactile cues. These stimuli are directly related to the acceleration profiles recorded with two IMUS placed on the distal phalanx of a soft under-actuated robotic prosthesis (Soft-Hand Pro). We characterized the system from a psychophysical point of view with fifteen able-bodied participants by computing participants' Just Noticeable Difference (JND) related to the discrimination of vibrotactile cues delivered on the index finger, which are associated with the exploration of different sandpapers. Moreover, we performed a pilot experiment with one SoftHand Pro prosthesis user by designing a task, i.e. Active Texture Identification, to investigate if our feedback could enhance users' roughness discrimination. Results indicate that the device can effectively convey contact and texture cues, which users can readily detect and distinguish.

Tactile Feedback in Upper Limb Prosthetics: A Pilot Study on Trans-Radial Amputees Comparing Different Haptic Modalities.

Despite technological advancements, upper limb prostheses still face high abandonment/rejection rates due to limitations in control interfaces and the absence of force/tactile feedback. Improving these aspects is crucial for enhancing user acceptance and optimizing functional performance. This pilot study, therefore, aims to understand which sensory feedback in combination with a soft robotic prosthetic hand could provide advantages for amputees, including performing everyday tasks. Tactile cues provided are contact information, grasping force, degree of hand opening, and combinations of this information. To transfer such feedback, different wearable systems are used, based on either vibrotactile or force stimulation in a non-invasive modality matching approach. Five volunteers with a trans-radial amputation controlling the new prosthetic hand SoftHand Pro performed a study protocol including everyday tasks. The results indicate the preference of amputees for a single, i.e. non-combined, feedback modality. The choice of appropriate haptic feedback seems to be subject and task-specific. Furthermore, in alignment with the participants' feedback, force feedback, with adequate granularity and clarity, could potentially be the most valuable feedback among those presented. Finally, the study suggests that prosthetic solutions should be preferred where amputees are able to choose their feedback system.

Evaluating the effect of non-invasive force feedback on prosthetic grasp force modulation in participants with and without limb loss.

Grasping an object is one of the most common and complex actions performed by humans. The human brain can adapt and update the grasp dynamics through information received from sensory feedback. Prosthetic hands can assist with the mechanical performance of grasping, however currently commercially available prostheses do not address the disruption of the sensory feedback loop. Providing feedback about a prosthetic hand's grasp force magnitude is a top priority for those with limb loss. This study tested a wearable haptic system, i.e., the Clenching Upper-Limb Force Feedback device (CUFF), which was integrated with a novel robotic hand (The SoftHand Pro). The SoftHand Pro was controlled with myoelectrics of the forearm muscles. Five participants with limb loss and nineteen able-bodied participants completed a constrained grasping task (with and without feedback) which required modulation of the grasp to reach a target force. This task was performed while depriving participants of incidental sensory sources (vision and hearing were significantly limited with glasses and headphones). The data were analyzed with Functional Principal Component Analysis (fPCA). CUFF feedback improved grasp precision for participants with limb loss who typically use body-powered prostheses as well as a sub-set of able-bodied participants. Further testing, that is more functional and allows participants to use all sensory sources, is needed to determine if CUFF feedback can accelerate mastery of myoelectric control or would benefit specific patient sub-groups.

Influence of Torrefaction on Biomass Devolatilization.

The present study investigated the effect of torrefaction on the devolatilization characteristics of three lignocellulosic biomass feedstocks with different degrees of torrefaction together with their parent fuel, palm kernel shell, a residue of palm oil production. Thermogravimetric (TG) analysis was employed for the study of the devolatilization process. A kinetic model based on three parallel reactions corresponding to biomass chemical components was applied to TG data and used for the evaluation of reaction kinetics. The results obtained indicated that the torrefaction process led to a significant reduction of the hemicellulose content of the investigated biofuels. The characterization of volatile products evolved during biofuel devolatilization was performed by TG analysis coupled with Fourier transform infrared spectroscopy. The emission characteristics and the yields of the main volatile products were assessed. Specific linear correlations between volatile yields and the torrefaction degree could be observed.

U-Limb: A multi-modal, multi-center database on arm motion control in healthy and post-stroke conditions.

BACKGROUND: Shedding light on the neuroscientific mechanisms of human upper limb motor control, in both healthy and disease conditions (e.g., after a stroke), can help to devise effective tools for a quantitative evaluation of the impaired conditions, and to properly inform the rehabilitative process. Furthermore, the design and control of mechatronic devices can also benefit from such neuroscientific outcomes, with important implications for assistive and rehabilitation robotics and advanced human-machine interaction. To reach these goals, we believe that an exhaustive data collection on human behavior is a mandatory step. For this reason, we release U-Limb, a large, multi-modal, multi-center data collection on human upper limb movements, with the aim of fostering trans-disciplinary cross-fertilization. CONTRIBUTION: This collection of signals consists of data from 91 able-bodied and 65 post-stroke participants and is organized at 3 levels: (i) upper limb daily living activities, during which kinematic and physiological signals (electromyography, electro-encephalography, and electrocardiography) were recorded; (ii) force-kinematic behavior during precise manipulation tasks with a haptic device; and (iii) brain activity during hand control using functional magnetic resonance imaging.

Integration of a Passive Exoskeleton and a Robotic Supernumerary Finger for Grasping Compensation in Chronic Stroke Patients: The SoftPro Wearable System.

Upper-limb impairments are all-pervasive in Activities of Daily Living (ADLs). As a consequence, people affected by a loss of arm function must endure severe limitations. To compensate for the lack of a functional arm and hand, we developed a wearable system that combines different assistive technologies including sensing, haptics, orthotics and robotics. The result is a device that helps lifting the forearm by means of a passive exoskeleton and improves the grasping ability of the impaired hand by employing a wearable robotic supernumerary finger. A pilot study involving 3 patients, which was conducted to test the capability of the device to assist in performing ADLs, confirmed its usefulness and serves as a first step in the investigation of novel paradigms for robotic assistance.

Integrating Wearable Haptics and Obstacle Avoidance for the Visually Impaired in Indoor Navigation: A User-Centered Approach.

Recently, in the attempt to increase blind people autonomy and improve their quality of life, a lot of effort has been devoted to develop technological travel aids. These systems can surrogate spatial information about the environment and deliver it to end-users through sensory substitution (auditory, haptic). However, despite the promising research outcomes, these solutions have met scarce acceptance in real-world. Often, this is also due to the limited involvement of real end users in the conceptual and design phases. In this article, we propose a novel indoor navigation system based on wearable haptic technologies. All the developmental phases were driven by continuous feedback from visually impaired persons. The proposed travel aid system consists of a RGB-D camera, a processing unit to compute visual information for obstacle avoidance, and a wearable device, which can provide normal and tangential force cues for guidance in an unknown indoor environment. Experiments with blindfolded subjects and visually impaired participants show that our system could be an effective support during indoor navigation, and a viable tool for training blind people to the usage of travel aids.

On the Time-Invariance Properties of Upper Limb Synergies.

In this paper, we present a novel approach to dynamically describe human upper limb trajectories, addressing the question on whether and to which extent synergistic multi-joint behavior is observed and preserved over time evolution and across subjects. To this goal, we performed experiments to collect human upper limb joint angle trajectories and organized them in a dataset of daily living tasks. We then characterized the upper limb poses at each time frame through a technique that we named repeated-principal component analysis (R-PCA). We found that, although there is no strong evidence on the predominance of one principal component (PC) over the others, the subspace identified by the first three PCs takes into account most of the motion variability. We evaluated the stability of these results over time, showing that during the reaching phase, there is a strong consistency of these findings across participants. In other words, our results suggest that there is a time-invariant low-dimensional approximation of upper limb kinematics, which can be used to define a suitable reduced dimensionality control space for upper limb robotic devices in motion phases.

Development of a bi-equilibrium model for biomass gasification in a downdraft bed reactor.

This work proposes a simple and accurate tool for predicting the main parameters of biomass gasification (syngas composition, heating value, flow rate), suitable for process study and system analysis. A multizonal model based on non-stoichiometric equilibrium models and a repartition factor, simulating the bypass of pyrolysis products through the oxidant zone, was developed. The results of tests with different feedstocks (corn cobs, wood pellets, rice husks and vine pruning) in a demonstrative downdraft gasifier (350kW) were used for validation. The average discrepancy between model and experimental results was up to 8 times less than the one with the simple equilibrium model. The repartition factor was successfully related to the operating conditions and characteristics of the biomass to simulate different conditions of the gasifier (variation in potentiality, densification and mixing of feedstock) and analyze the model sensitivity.

Gasification of agricultural residues in a demonstrative plant: Vine pruning and rice husks.

Tests with vine pruning and rice husks were carried out in a demonstrative downdraft gasifier (350 kW), to prove the reactor operability, quantify the plant efficiency, and thus extend the range of potential energy feedstocks. Pressure drops, syngas flow rate and composition were monitored to study the material and energy balances, and performance indexes. Interesting results were obtained for vine pruning (syngas heating value 5.7 MJ/m(3), equivalent ratio 0.26, cold gas efficiency 65%, power efficiency 21%), while poorer values were obtained for rice husks (syngas heating value 2.5-3.8 MJ/m(3), equivalent ratio 0.4, cold gas efficiency 31-42%, power efficiency 10-13%). The work contains also a comparison with previous results (wood pellets, corn cobs, Miscanthus) for defining an operating diagram, based on material density and particle size and shape, and the critical zones (reactor obstruction, bridging, no bed buildup, combustion regime).

Gasification of agricultural residues in a demonstrative plant: corn cobs.

Biomass gasification couples the high power efficiency with the possibility of valuably using the byproducts heat and biochar. The use of agricultural wastes instead of woody feedstock extends the seasonal availability of biomasses. The downdraft type is the most used reactor but has narrow ranges of feedstock specifications (above all on moisture and particle size distribution), so tests on a demonstrative scale are conducted to prove the versatility of the gasifier. Measurements on pressure drops, syngas flow rate and composition are studied to assess the feasibility of such operations with corn cobs. Material and energy balances, and performance indexes are compared for the four tests carried out under different biomass loads (66-85 kg/h). A good operability of the plant and interesting results are obtained (gas specific production of 2 m3/kg, gas heating value 5.6-5.8 MJ/m3, cold gas efficiency in the range 66-68%, potential net power efficiency 21.1-21.6%).

Assessment of syngas composition variability in a pilot-scale downdraft biomass gasifier by an extended equilibrium model.

A new simplified approach based on equilibrium modeling is proposed in this work to describe the correlations among syngas species experimentally observed in a pilot scale downdraft biomass gasifier operated with different feedstocks (biomass pellets and vine prunings). The modeling approach is based on experimental evidence on the presence of devolatilization products in the syngas and fluctuations of syngas composition during stationary operation, accounted for by introducing two empirical parameters, a by-pass index and a permeability index. The simplified model correctly reproduces the correlations among the main syngas species (including methane and ethylene) resulting from experimental data of pilot tests with different feedstocks and under a wide range of operating conditions.

Bio-oils from biomass slow pyrolysis: a chemical and toxicological screening.

Bio-oils were produced from bench-scale slow-pyrolysis of three different biomass samples (corn stalks, poplar and switchgrass). Experimental protocols were developed and applied in order to screen their chemical composition. Several hazardous compounds were detected in the bio-oil samples analysed, including phenols, furans and polycyclic aromatic hydrocarbons. A procedure was outlined and applied to the assessment of toxicological and carcinogenic hazards of the bio-oils. The following hazardous properties were considered: acute toxicity; ecotoxicity; chronic toxicity; carcinogenicity. Parameters related to these properties were quantified for each component identified in the bio-oils and overall values were estimated for the bio-oils. The hazard screening carried out for the three bio-oils considered suggested that: (i) hazards to human health could be associated with chronic exposures to the bio-oils; (ii) acute toxic effects on humans and eco-toxic effects on aquatic ecosystems could also be possible in the case of loss of containment; and (iii) bio-oils may present a marginal potential carcinogenicity. The approach outlined allows the collection of screening information on the potential hazards posed by the bio-oils. This can be particularly useful when limited time and analytical resources reduce the possibility to obtain detailed specific experimental data.

Gasification of pelletized biomass in a pilot scale downdraft gasifier.

This work presents a pilot-scale investigation aimed at assessing the feasibility and reliability of biomass pellet gasification. Wood sawdust and sunflower seeds pellets were tested in a 200 kW downdraft gasifier operating with air as gasifying agent. The gasification of pelletized biomass led to rather high and unstable pressure drops, reducing the gasifier productivity and stability. Furthermore the generation of fine residues compromised the operation of wet ash removal systems. On the other hand, good syngas compositions (H(2) 17.2%, N(2) 46.0%, CH(4) 2.5%, CO 21.2%, CO(2) 12.6%, and C(2)H(4) 0.4%), specific gas production (2.2-2.4 N m(3) kg(-1)) and cold gas efficiency (67.7-70.0%) were achieved. For these reasons pelletized biomass should be considered only as complementary fuel in co-gasification with other feedstock.