Mechanical and thermal stimulation for studying the somatosensory system: a review on devices and methods.

The somatosensory system is widely studied to understand its functioning mechanisms. Multiple tests, based on different devices and methods, have been performed not only on humans but also on animals andex-vivomodels. Depending on the nature of the sample under analysis and on the scientific aims of interest, several solutions for experimental stimulation and for investigations on sensation or pain have been adopted. In this review paper, an overview of the available devices and methods has been reported, also analyzing the representative values adopted during literature experiments. Among the various physical stimulations used to study the somatosensory system, we focused only on mechanical and thermal ones. Based on the analysis of their main features and on literature studies, we pointed out the most suitable solution for humans, rodents, andex-vivomodels and investigation aims (sensation and pain).

Eliciting Force and Slippage in Upper Limb Amputees Through Transcutaneous Electrical Nerve Stimulation (TENS).

Upper limb amputation severely affects the quality of life of individuals. Therefore, developing closed-loop upper-limb prostheses would enhance the sensory-motor capabilities of the prosthetic user. Considering design priorities based on user needs, the restoration of sensory feedback is one of the most desired features. This study focuses on employing Transcutaneous Electrical Nerve Stimulation (TENS) as a non-invasive somatotopic stimulation technique for restoring somatic sensations in upper-limb amputees. The aim of this study is to propose two encoding strategies to elicit force and slippage sensations in transradial amputees. The former aims at restoring three different levels of force through a Linear Pulse Amplitude Modulation (LPAM); the latter is devoted to elicit slippage sensations through Apparent Moving Sensation (AMS) by means of three different algorithms, i.e. the Pulse Amplitude Variation (PAV), the Pulse Width Variation (PWV) and Inter-Stimulus Delay Modulation (ISDM). Amputees had to characterize perceived sensations and to perform force and slippage recognition tasks. Results demonstrates that amputees were able to correctly identify low, medium and high levels of force, with an accuracy above the 80% and similarly, to also discriminate the slippage moving direction with a high accuracy above 90%, also highlighting that ISDM would be the most suitable method, among the three AMS strategies to deliver slippage sensations. It was demonstrated for the first time that the developed encoding strategies are effective methods to somatotopically reintroduce in the amputees, by means of TENS, force and slippage sensations.

Protected habitats support bats in Mediterranean dry grasslands.

The replacement of natural habitats by urbanization and agricultural land reclamation is one of the main drivers of biodiversity loss. Among European habitat types, natural grasslands are particularly prone to anthropogenic pressures, being also recognized as conservation priorities within the Habitats Directive. Nonetheless, little is known on the relationship between grasslands, their conservation quality, and most animals' taxa that may rely upon them. Here we focus on the role of Mediterranean dry grasslands protected by the EU legislation in sustaining bat populations, setting our study in the biodiversity hotspot of Mediterranean Italy. By conducting acoustic surveillance at 48 sites within a protected area devoted to conserve natural and semi-natural grasslands, we found that all the bat species found in the area are regular exploiters of such open environments. Grassland conservation quality, in terms of extent of high-diversity protected habitats, was the key factor shaping the use of grasslands by bats of all the considered guilds, together with several terrain and landscape features, which showed more guild-specific effects. Moreover, our results indicate that bat assemblages are functionally shifted along an ecological gradient from highly modified to well-conserved grassland sites, indicating a prevalence of opportunistic taxa in the former, and higher abundance of species of conservation concern in the latter. Overall, we demonstrate that the effects of EU-listed habitats may extend also onto bats in the case of Mediterranean dry grasslands, highlighting the importance of preserving such habitats as a tool for conserving highly mobile species.

A Multiscale Approach to Axon and Nerve Stimulation Modeling: A Review.

Electrical nerve fiber stimulation is a technique widely used in prosthetics and rehabilitation, and its study from a computational point of view can be a useful instrument to support experimental tests. In the last years, there was an increasing interest in computational modeling of neural cells and numerical simulations on nerve fibers stimulation because of its usefulness in forecasting the effect of electrical current stimuli delivered to tissues through implanted electrodes, in the design of optimal stimulus waveforms based on the specific application (i.e., inducing limb movements, sensory feedback or physiological function restoring), and in the evaluation of the current stimuli properties according to the characteristics of the nerves surrounding tissue. Therefore, a review study on the main modeling and computational frameworks adopted to investigate peripheral nerve stimulation is an important instrument to support and drive future research works. To this aim, this paper deals with mathematical models of neural cells with a detailed description of ion channels and numerical simulations using finite element methods to describe the dynamics of electrical stimulation by implanted electrodes in peripheral nerve fibers. In particular, we evaluate different nerve cell models considering different ion channels present in neurons and provide a guideline on multiscale numerical simulations of electrical nerve fibers stimulation.

Hand motion analysis during robot-aided rehabilitation in chronic stroke.

A high percentage of post-stroke patients reports spasticity and no functional use of the upper limb. To adapt the therapy in the most patient-specific manner, it is of paramount importance to objectively assess motor improvement during rehabilitation therapy. In this paper, a quantitative evaluation of the results obtained by using a commercial exoskeletal glove for hand rehabilitation (i.e. Gloreha Sinfonia®) is performed. A camera-based calibration procedure for the bending sensors embedded in the Gloreha Sinfonia robotic glove for hand rehabilitation is introduced to retrieve the range of motion (i.e. the flexion angle excursion of the finger metacarpophalangeal joints) of the patients' hand. Once calibrated, the sensors embedded in the glove have been used to objectively assess the motor performance of chronic post-stroke patients that underwent a robotic treatment with the Gloreha Sinfonia glove. The preliminary results obtained on ten post-stroke patients demonstrated i) that the camera-based procedure permits to retrieve joints' angular values from bending sensors embedded in the glove ii) an improvement in motor performance.

Robotic hand treatment of patients affected by chronic stroke: a monocentric longitudinal pilot study.

Few studies investigated the effects of a robotic treatment in hand motor recovery after stroke. Aim of the present study was to evaluate the efficacy of treatment by means of Gloreha Sinfonia® robotic glove in hand motor recovery of a chronic stroke sample of patients with different impairment severity. Thirteen chronic stroke subjects were assigned to either active-assisted robotic treatment or passive robotic treatment according to their ability to actively extend wrist for at least 20 degrees. All subjects underwent 20 sessions of treatment with Gloreha Sinfonia® and were evaluated before (T0), after treatment (T1) and after one month (T2) with clinical scales testing motor performance [Motor Power (MP); Fugl Meyer Upper-Extremity (FMUE)] and spasticity [Modified Ashworth Scale (MAS)]. Both groups showed significant motor recovery and spasticity reduction. Further randomized controlled trials with larger samples are needed to confirm our results.

Intraneural electrical stimulation of median nerve: a simulation study on sensory and motor fascicles.

Neuroprostheses can be an innovative solution to improve quality of life of upper limb amputees. In this framework, the recovery of sensory feedback is a property widely requested by amputee subjects. Neural prostheses are based on neural interfaces that allow delivering direct current stimuli to the nerve fibers. The study of the interaction between the nerve and the electrode is fundamental to investigate activation properties in the nerve. Furthermore, the results could provide useful insight into improve the design of the electrodes and to advance and ameliorate tactile sensations, elicited by these interfaces, obtaining tactile feedback more like natural sensations. This work aims at studying, by means of a FEM Neuron computational model, the axon fibers activation by means of neural stimulation provided through the intraneural electrodes DS-file. Three different types of stimulation waveforms (i.e. biphasic charge balanced stimulus with inter-pulse delay, biphasic charge balanced stimulus without inter-pulse delay, biphasic charge unbalanced stimulus with inter-pulse delay), three different nerve fascicles, i.e. two sensory and one motor fascicle, and ten distances from the electrode in the fascicles, are considered. The efficacy of the stimulation expressed as the percentage of activation of the fibers, and the safety, in terms of current intensity and used waveform, are studied in the previously described different conditions and the results are compared. The obtained results show that: i. stimulating a sensory fascicle with implanted active sites can activate a fascicle close to it, but not all the fascicles belonging to the same nerve. In fact, in the nerve considered in this study, a motor fascicle cannot be activated due to the values of the electrical potential which are too low to activate the fibers; ii. the current intensity necessary to activate fibers increases according to the distance from the source of the stimulus; iii. by using a biphasic charge unbalanced stimulus, the threshold to activate the fibers is lower than using the other tested waveforms. It is an important result because the stimulation is efficient and safer since current intensity is lower than the one used for the other two waveforms.

Wearable textile based on silver plated knitted sensor for respiratory rate monitoring.

Wearable systems are gaining broad acceptance for monitoring physiological parameters in several medical applications. Among a number of approaches, smart textiles have attracted interest because they are comfortable and do not impair patients' movements. In this article, we aim at developing a smart textile for respiratory monitoring based on a piezoresistive sensing element. Firstly, the calibration curve of the system and its hysteresis have been investigated. Then, the proposed system has been assessed on 6 healthy subjects. The volunteers were invited to wear the system to monitor their breathing rate. The results of the calibration show a good mean sensitivity (i.e., approximately 0.11V·%-1); although the hysteresis is not negligible, the system can follow the cycles also at high rates (up to 36 cycle·min-1). The feasibility assessment on 6 volunteers (two trials for each one) shows that the proposed system can estimate with good accuracy the breathing rate. Indeed, the results obtained by the proposed system were compared with the ones collected with a spirometer, used as reference. Considering all the experiments, a mean percentage error was approximately 2%. In conclusion, the proposed system has several valuable features (e.g., the sensing element is lightweight, the sensitivity is high, and it is possible to develop comfortable smart textile); in addition, the promising performances considering both metrological properties and assessment on volunteers foster future tests focused on: i) the possibility of developing and system embedding several sensing elements, and ii) to develop a wireless acquisition system, to allow comfortable and long-term acquisition in both patients and during sport activities.

An instrumented object for studying human grasping.

This paper proposes the use of an instrumented object for the study of the human grasping strategies. The proposed object is able to measure the grasping forces by means of three Force Sensitive Resistor (FSR) sensors and triaxial acceleration through an accelerometer. The object orientation angles (roll and pitch) can be estimated from the accelerometer output in quasi-static condition, whereas slippage events can be detected through the Power Spectrum Density (PSD) computation of the acceleration on at least one of the three axes. An experimental session on 7 healthy subjects has been performed; each subject used the instrumented object to perform 8 tripod grasp trials. All the sensory information, i.e. applied forces, object orientation and slippage, have been analyzed in order to evaluate the grasping strategies of the different subjects.

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.

Upper-limb kinematic reconstruction during stroke robot-aided therapy.

The paper proposes a novel method for an accurate and unobtrusive reconstruction of the upper-limb kinematics of stroke patients during robot-aided rehabilitation tasks with end-effector machines. The method is based on a robust analytic procedure for inverse kinematics that simply uses, in addition to hand pose data provided by the robot, upper arm acceleration measurements for computing a constraint on elbow position; it is exploited for task space augmentation. The proposed method can enable in-depth comprehension of planning strategy of stroke patients in the joint space and, consequently, allow developing therapies tailored for their residual motor capabilities. The experimental validation has a twofold purpose: (1) a comparative analysis with an optoelectronic motion capturing system is used to assess the method capability to reconstruct joint motion; (2) the application of the method to healthy and stroke subjects during circle-drawing tasks with InMotion2 robot is used to evaluate its efficacy in discriminating stroke from healthy behavior. The experimental results have shown that arm angles are reconstructed with a RMSE of 8.3 × 10(-3) rad. Moreover, the comparison between healthy and stroke subjects has revealed different features in the joint space in terms of mean values and standard deviations, which also allow assessing inter- and intra-subject variability. The findings of this study contribute to the investigation of motor performance in the joint space and Cartesian space of stroke patients undergoing robot-aided therapy, thus allowing: (1) evaluating the outcomes of the therapeutic approach, (2) re-planning the robotic treatment based on patient needs, and (3) understanding pathology-related motor strategies.

Comparative analysis and quantitative evaluation of ankle-foot orthoses for foot drop in chronic hemiparetic patients.

BACKGROUND: Ankle-foot-orthoses (AFOs) are frequently prescribed for hemiparetic patients to compensate for the foot drop syndrome. However, there is not a systematic study either on the effectiveness of AFOs in the gait recovery process or pointing out the therapeutic differences among the various types of AFOs available on the market. AIM: To perform a comparative evaluation of solid and dynamic Ankle-Foot-Orthoses (AFOs) on hemiparetic patients affected by foot drop syndrome by means of spatio-temporal, kinematic and electromyographic indicators. DESIGN: Crossover design with randomization for the interventions. SETTING: A rehabilitation center for adults with neurologic disorders. POPULATION: Ten chronic hemiparetic patients with foot drop syndrome met inclusion criteria and volunteered to participate. METHODS: Biomechanical gait analysis was carried out on hemiparetic subjects with foot drop syndrome under 3 conditions with randomized sequences: 1) without AFO; 2) wearing a solid AFO; 3) wearing a dynamic AFO. Significant changes in spatio-temporal, kinematic and electromyographic features of gait were investigated. RESULTS: Gait analysis outcomes showed that there were no significant differences among the solid and the dynamic AFO on the spatio-temporal parameters. Both AFOs led to a reduction of the range of motion of the ankle dorsi-plantar-flexion during stance with respect to the ambulation without AFO. They also had the effect of reducing the asymmetry between the paretic and the contralateral limb in terms of ankle angle at initial contact and hip flexion. The solid AFO generally led to an increase of the co-contraction of the couples of muscles involved in the gait. CONCLUSION: The proposed set of indicators showed that the AFOs were capable of limiting the effect of the foot-drop in hemiparetic patients and balancing the two limbs. Main differences between the two orthoses were related to muscular activity, being the level of co-contraction of the two couples of analysed muscles typically lower when the dynamic AFO was worn and closer to a normal pattern. CLINICAL REHABILITATION IMPACT: A more extensive use of the proposed indicators in the clinical practice is expected in order to enable the definition of clinical guidelines for the prescription of the two devices.

A bio-inspired force control for cyclic manipulation of prosthetic hands.

The human hand is considered as the highest example of dexterous system capable of interacting with different objects and adapting its manipulation abilities to them. The control of poliarticulated prosthetic hands represents one important research challenge, typically aiming at replicating the manipulation capabilities of the natural hand. For this reason, this paper wants to propose a bio-inspired learning architecture based on parallel force/position control for prosthetic hands, capable of learning cyclic manipulation capabilities. To this purpose, it is focused on the control of a commercial biomechatronic hand (the IH2 hand) including the main features of recent poliarticulated prosthetic hands. The training phase of the hand was carried out in simulation, the parallel force/position control was tested in simulation whereas preliminary tests were performed on the real IH2 hand. The results obtained in simulation and on the real hand provide an important evidence of the applicability of the bio-inspired neural control to real biomechatronic hand with the typical features of a hand prosthesis.

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.

Mechanisms of motor recovery in chronic and subacute stroke patients following a robot-aided training.

The aim of this article is to propose a methodology for analyzing different recovery mechanisms in subacute and chronic patients through evaluation of biomechanical parameters. Twenty-five post-stroke subjects, eight subacute and seventeen chronic, participated in the study. A 2-DoF robotic system was used for upper limb training. Two clinical scales were used for assessment. Forces and velocities at the robot's end-effector during the execution of upper limb planar reaching movements were measured. Clinical outcome measures show a significant decrease in motor impairment after the treatment both in chronic and subacute patients (MSS-SE, p<0.001; FM, p<0.05). Movement velocity increases after the robot-aided treatment in both groups. Mean values of forces exerted by subacute patients are lower than those observed in chronic patients, both at the beginning and at the end of robotic treatment, as in the latter the pathological pattern is already structured. Our results demonstrate that the monitoring of the forces exerted on the end-effector during robot-aided treatment can identify the specific motor recovery mechanisms at different stages. If the pathological pattern is not yet structured, rehabilitative interventions should be addressed toward the use of motor re-learning procedures; on the other hand, if the force analysis shows a strong pathological pattern, mechanisms of compensation should be encouraged.

Inter-hemispheric coupling changes associate with motor improvements after robotic stroke rehabilitation.

PURPOSE: In the chronic phase of stroke brain plasticity plays a crucial role for further motor control improvements. This study aims to assess the brain plastic reorganizations and their association with clinical progresses induced by a robot-aided rehabilitation program in chronic stroke patients. METHODS: 7 stroke patients with an upper limb motor impairment in chronic phase underwent a multi-modal evaluation before starting and at the end of a 12-week upper-limb neurorehabilitation program. Fugl-Meyer Assessment (FMA) Scale scores and performance indices of hand movement performance (isometric pinch monitored through a visual feedback) were collected. Cerebral reorganizations were characterized by 32-channel electroencephalography (EEG) focusing on ipsilesional and contralesional resting state properties investigating both bipolar derivations overlying the middle cerebral artery territory and the primary somatosensory sources (S1) obtained through the Functional Source Separation (FSS) method. Power Spectral Density (PSD) and interhemispheric coherence (IHCoh) at rest were measured and correlated with clinical and hand control robot-induced improvements. RESULTS: After the robotic rehabilitation we found an improvement of FMAS scores and hand motor control performance and changes of brain connectivity in high frequency rhythms (24-90 Hz). In particular, the improvement of motor performance correlated with the modulation of the interhemispheric S1 coherence in the high beta band (24-33 Hz). CONCLUSIONS: Recently it has been shown that an upper limb robot-based rehabilitation improves motor performance in stroke patients. We confirm this potential and demonstrate that a robot-aided rehabilitation program induces brain reorganizations. Specifically, interhemispheric connectivity between primary somatosensory areas got closer to a 'physiological level' in parallel with the acquisition of more accurate hand control.

Robotic technologies and rehabilitation: new tools for upper-limb therapy and assessment in chronic stroke.

BACKGROUND: The use of robotic technology for assessment has the potential to provide therapists with objective, accurate, repeatable measurements of subject's functions. However, despite the increasing number of clinical studies examining the effect of robotic training on stroke rehabilitation, body functions and structures assessment is typically carried out through traditional human-administered clinical impairment scales. AIM: The paper aims at providing a complete set of kinematic and dynamic indices for an objective measure of the effect of robot-aided therapy, and testing their correlation with clinical scales. DESIGN: An intervention pilot study applying robotic therapy was carried out. SETTING: The clinical study was focused on outpatients and was carried out at Università Campus Bio-Medico of Rome, Italy. POPULATION: Fifteen community-dwelling persons with chronic stroke met inclusion criteria and volunteered to participate. METHODS: Upper limb robotic therapy was administered to patients. Kinematic and dynamic performance indices were extracted from position and force data recorded with the InMotion2 robot. A linear regression analysis was carried out to study correlation with clinical scales to extract a core set of performance indicators. RESULTS: Robotic outcome measures showed a significant improvement of kinematic motor performance; the improvement of dynamic components was significant only in resistive motion and highly correlated with Motor Power. CONCLUSION: Preliminary results showed that arm motor functions and strength of the paretic arm can be objectively measured by means of the proposed bunch of robotic measures. Correlation with Motor Power was high, while correlation with Fugl-Meyer was moderate. CLINICAL REHABILITATION IMPACT: An improvement of clinical body functions assessment is expected in terms of objective, accurate and repeatable measurements of subject's performance during recovery.

Experimental validation of a reach-and grasp optimization algorithm inspired to human arm-hand control.

Taking inspiration from neurophysiological studies on synergies in the human grasping action, this paper tries to demonstrate that it is possible to find a general rule for performing a stable, human-like cylindrical grasp with a robotic hand. To this purpose, the theoretical formulation and the experimental validation of a reach-and-grasp algorithm for determining the optimal hand position and the optimal finger configuration for grasping a cylindrical object with known features are presented. The proposed algorithm is based on the minimization of an objective function expressed by the sum of the distances of the hand joints from the object surface. Algorithm effectiveness has preliminarily been tested by means of simulation trials. Experimental trials on a real arm-hand robotic system have then been carried out in order to validate the approach and evaluate algorithm performance.

A wearable ergonomic gaze-tracker for infants.

In this paper we present a low-cost hardware and software solution for monitoring gaze and head movements in infants. The proposed device consists in a webcam and a magneto-inertial sensor mounted on a cap. Signal acquisition and elaboration is carried out on a common PC. Technological choices and calibration procedures rely on a minimally obtrusive and ecological approach. The purpose of this work is to present preliminary in-lab evaluations on a new method that may enable researchers to gain new insights on the contents of visual experience from the child's point of view.