A New Labeling Approach for Proportional Electromyographic Control.

Different control strategies are available for human machine interfaces based on electromyography (EMG) to map voluntary muscle signals to control signals of a remote controlled device. Complex systems such as robots or multi-fingered hands require a natural commanding, which can be realized with proportional and simultaneous control schemes. Machine learning approaches and methods based on regression are often used to realize the desired functionality. Training procedures often include the tracking of visual stimuli on a screen or additional sensors, such as cameras or force sensors, to create labels for decoder calibration. In certain scenarios, where ground truth, such as additional sensor data, can not be measured, e.g., with people suffering from physical disabilities, these methods come with the challenge of generating appropriate labels. We introduce a new approach that uses the EMG-feature stream recorded during a simple training procedure to generate continuous labels. The method avoids synchronization mismatches in the labels and has no need for additional sensor data. Furthermore, we investigated the influence of the transient phase of the muscle contraction when using the new labeling approach. For this purpose, we performed a user study involving 10 subjects performing online 2D goal-reaching and tracking tasks on a screen. In total, five different labeling methods were tested, including three variations of the new approach as well as methods based on binary labels, which served as a baseline. Results of the evaluation showed that the introduced labeling approach in combination with the transient phase leads to a proportional command that is more accurate than using only binary labels. In summary, this work presents a new labeling approach for proportional EMG control without the need of a complex training procedure or additional sensors.

Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases.

Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying delays, packet loss, and limited bandwidth, as well as high reliability, precision, and task duration requirements. In order to close this gap, we research model-augmented haptic telemanipulation (MATM) that uses two kinds of models: a remote model that enables shared autonomous functionality of the teleoperated robot, and a local model that aims to generate assistive augmented haptic feedback for the human operator. Several technological methods that form the backbone of the MATM approach have already been successfully demonstrated in accomplished telerobotic space missions. On this basis, we have applied our approach in more recent research to applications in the fields of orbital robotics, telesurgery, caregiving, and telenavigation. In the course of this work, we have advanced specific aspects of the approach that were of particular importance for each respective application, especially shared autonomy, and haptic augmentation. This overview paper discusses the MATM approach in detail, presents the latest research results of the various technologies encompassed within this approach, provides a retrospective of DLR's telerobotic space missions, demonstrates the broad application potential of MATM based on the aforementioned use cases, and outlines lessons learned and open challenges.

Functional Tasks Performed by People with Severe Muscular Atrophy Using an sEMG Controlled Robotic Manipulator.

For paralyzed people activities of daily living like eating or drinking are impossible without external assistance. Robotic assistance systems can give these people a part of their independence back. Especially if the operation with a joystick is not possible anymore due to a missing hand function, people need innovative interfaces to control assistive robots in 3D. Besides brain computer interfaces an approach based on surface electromyography (sEMG) can present an opportunity for people with a strong muscular atrophy. In this work we show that two people with proceeded spinal muscular atrophy can perform functional tasks using an sEMG controlled robotic manipulator. The interface provides a continuous control of three degrees of freedom of the endeffector of the robot. The performance was assessed with two clinical measures of upper limb functionality: the Box and Blocks Test and the Action Research Arm Test. Additionally, the participant could show that they can drink by themselves with the provided system.

An sEMG-based Interface to give People with Severe Muscular Atrophy control over Assistive Devices.

Injuries, accidents, strokes, and other diseases can significantly degrade the capabilities to perform even the most simple activities in daily life. While assistive technology becomes more and more available to the people affected, there is still a big need for user interfaces suitable for people without functional hand movement. A large share of these cases involves neuromuscular diseases, which lead to severely reduced muscle function. However, even though affected people are no longer able to functionally move their limbs, residual muscle function can still be existent. Previous work has shown that this residual muscular activity can suffice, to create an EMG-based user interface, and e.g., allow for control of assistive devices. In this paper, we enhance this user interface with additional EMG-features and an improved training paradigm in order to increase information extraction from recordings of strongly atrophic muscles. The interface was tested and validated by subjects with severe spinal muscular atrophy. Results show that the used methods improve the decoding and thereby allow for a considerable increase in performance when controlling a robotic manipulator in a 3D reaching task.

Human's Capability to Discriminate Spatial Forces at the Big Toe.

A key factor for reliable object manipulation is the tactile information provided by the skin of our hands. As this sensory information is so essential in our daily life it should also be provided during teleoperation of robotic devices or in the control of myoelectric prostheses. It is well-known that feeding back the tactile information to the user can lead to a more natural and intuitive control of robotic devices. However, in some applications it is difficult to use the hands as natural feedback channels since they may already be overloaded with other tasks or, e.g., in case of hand prostheses not accessible at all. Many alternatives for tactile feedback to the human hand have already been investigated. In particular, one approach shows that humans can integrate uni-directional (normal) force feedback at the toe into their sensorimotor-control loop. Extending this work, we investigate the human's capability to discriminate spatial forces at the bare front side of their toe. A state-of-the-art haptic feedback device was used to apply forces with three different amplitudes-2 N, 5 N, and 8 N-to subjects' right big toes. During the experiments, different force stimuli were presented, i.e., direction of the applied force was changed, such that tangential components occured. In total the four directions up (distal), down (proximal), left (medial), and right (lateral) were tested. The proportion of the tangential force was varied corresponding to a directional change of 5° to 25° with respect to the normal force. Given these force stimuli, the subjects' task was to identify the direction of the force change. We found the amplitude of the force as well as the proportion of tangential forces to have a significant influence on the success rate. Furthermore, the direction right showed a significantly different successrate from all other directions. The stimuli with a force amplitude of 8 N achieved success rates over 89% in all directions. The results of the user study provide evidence that the subjects were able to discriminate spatial forces at their toe within defined force amplitudes and tangential proportion.

Elastic Elements in a Wrist Prosthesis for Drumming Reduce Muscular Effort, but Increase Imprecision and Perceived Stress.

Recently, progress has been made in the development of mechanical joints with variable intrinsic stiffness, opening up the search for application areas of such variable-stiffness joints. By varying the stiffness of its joints, the resonant frequency of a system can be tuned to perform cyclical tasks most energy-efficiently, making the variable-stiffness joint a candidate element for an advanced prosthetic device specifically designed for the cyclical task of drumming. A prerequisite for a successful variable-stiffness drumming prosthesis is the ability of human drummers to profitably employ different stiffness levels for playing different beats. In this pilot study, 29 able-bodied subjects (20 drumming novices and 9 experts) wear a cuff on the forearm, to which a drumstick is connected using changeable adapters, consisting of several leaf springs with different stiffness and one maximally stiff connection element. The subjects are asked to play simple regular drum beats at different frequencies, one of which is the resonant frequency of the adapter-drumstick system. The subject's performance of each drumming task is rated in terms of accuracy and precision, and the effort is measured using questionnaires for the perceived stress as well as electromyography (EMG) for the muscular activity. The experiments show that using springs instead of the stiff connection leads to lower muscular activity, indicating that humans are able to use the energy-storing capabilities of the springs, or that muscular activity is reduced due to the lower mass of the springs. However, the perceived stress is increased and the novices' performance lowered, possibly due to a higher cerebral load for controlling the elastic system. The hypothesis that "matching the resonant frequency of the spring-drumstick system to the desired frequency leads to better performance and lower effort" is not confirmed. Possible explanations are discussed. In conclusion, a series-elastic element appears to lower the muscular effort of drumming, while a stiff connection appears to minimize the mental load and has a positive effect on the performance of drumming novices.

The influence of solvent polarity and metalation on energy and electron transfer in porphyrin-phthalocyanine heterotrimers.

Heteroporphyrin and -phthalocyanine arrays represent an attractive class of light harvesters and charge-separation systems exhibiting an easy route of synthesis and high chemical stability. In the present work, we report the results of photophysical investigations of two novel non-sandwich-type porphyrin-phthalocyanine heterotriads, in which two meso-tetraphenylporphyrin rings (H2TPP or ZnTPP) are linked to the central silicon atom of a silicon(IV) phthalocyanine core. It was found that the photophysical properties of the triads (H2Tr and ZnTr) in N,N-dimethylformamide (DMF) and toluene are strongly affected by two different types of interaction between the porphyrin (P) and the phthalocyanine (Pc) parts, namely excitation energy transfer (EET) and photoinduced charge transfer. The first process results in appearance of the Pc fluorescence when the P-part is initially excited, and plays a dominant role in fast depopulation of the first excited singlet state of the P moiety. If the first excited singlet state of the Pc-part is populated (either directly or via EET), it undergoes fast depopulation by hole transfer (HT) to the charge-separated (CS) state. In polar DMF, the CS state is the lowest excited state, and the charge recombination occurs directly to the ground state. Using transient absorption spectroscopy, the lifetime of the CS state was estimated to be 30 and 20 ps for H2Tr and ZnTr, respectively. In nonpolar toluene, the energy gap between the first excited singlet state of the Pc-part and the CS state is very small, and back HT occurs in both triads, resulting in appearance of "delayed fluorescence" of the Pc-part with a decay time similar to the lifetime of the CS state (190 and 280 ps for H2Tr and ZnTr, respectively). Since the energy of the CS state of ZnTr in toluene is lower than that of H2Tr, the probability of back HT for ZnTr is lower. This was clearly proved by decay-associated fluorescence spectral measurements.

Sub-nanometer control of the interlayer spacing in thin films of intercalated rodlike conjugated molecules.

Organic molecular beam co-deposition of rodlike conjugated molecules with an alkylated analogue resulted in thin film structures with layers of alternating semiconducting (conjugated molecular parts) and insulating (alkyl parts) character. By varying the alkylated molecule ratio, we could adjust the distance between conjugated layers with sub-nanometer precision, exploiting the mechanical flexibility of the alkyl chains. Furthermore, due to mutual molecular intercalation, mixed layers containing two conjugated moieties with vastly different electronic properties could be fabricated.

Enhanced mobility in P3HT-based OTFTs upon blending with a phenylene-thiophene-thiophene-phenylene small molecule.

An enhancement in charge transport capacity in a poly(3-hexylthiophene) (P3HT) semicrystalline film, up to field-effect mobilities approaching 0.1 cm(2) V(-1) s(-1), has been achieved by co-deposition with a small molecule, i.e. 5,5'-bis(4-n-hexylphenyl)-2,2'-bithiophene (dH-PTTP), forming highly ordered crystals bridging large polymeric domains.