Design of an adaptable intrafascicular electrode (AIR) for selective nerve stimulation by model-based optimization.

Peripheral nerve stimulation is being investigated as a therapeutic tool in several clinical scenarios. However, the adopted devices have restricted ability to obtain desired outcomes with tolerable off-target effects. Recent promising solutions are not yet employed in clinical practice due to complex required surgeries, lack of long-term stability, and implant invasiveness. Here, we aimed to design a neural interface to address these issues, specifically dimensioned for pudendal and sacral nerves to potentially target sexual, bladder, or bowel dysfunctions. We designed the adaptable intrafascicular radial electrode (AIR) through realistic computational models. They account for detailed human anatomy, inhomogeneous anisotropic conductance, following the trajectories of axons along curving and branching fascicles, and detailed biophysics of axons. The model was validated against available experimental data. Thanks to computationally efficient geometry-based selectivity estimations we informed the electrode design, optimizing its dimensions to obtain the highest selectivity while maintaining low invasiveness. We then compared the AIR with state-of-the-art electrodes, namely InterStim leads, multipolar cuffs and transversal intrafascicular multichannel electrodes (TIME). AIR, comprising a flexible substrate, surface active sites, and radially inserted intrafascicular needles, is designed to be implanted in a few standard steps, potentially enabling fast implants. It holds potential for repeatable stimulation outcomes thanks to its radial structural symmetry. When compared in-silico, AIR consistently outperformed cuff electrodes and InterStim leads in terms of recruitment threshold and stimulation selectivity. AIR performed similarly or better than a TIME, with quantified less invasiveness. Finally, we showed how AIR can adapt to different nerve sizes and varying shapes while maintaining high selectivity. The AIR electrode shows the potential to fill a clinical need for an effective peripheral nerve interface. Its high predicted performance in all the identified requirements was enabled by a model-based approach, readily applicable for the optimization of electrode parameters in any peripheral nerve stimulation scenario.

Automated calibration of somatosensory stimulation using reinforcement learning.

BACKGROUND: The identification of the electrical stimulation parameters for neuromodulation is a subject-specific and time-consuming procedure that presently mostly relies on the expertise of the user (e.g., clinician, experimenter, bioengineer). Since the parameters of stimulation change over time (due to displacement of electrodes, skin status, etc.), patients undergo recurrent, long calibration sessions, along with visits to the clinics, which are inefficient and expensive. To address this issue, we developed an automatized calibration system based on reinforcement learning (RL) allowing for accurate and efficient identification of the peripheral nerve stimulation parameters for somatosensory neuroprostheses. METHODS: We developed an RL algorithm to automatically select neurostimulation parameters for restoring sensory feedback with transcutaneous electrical nerve stimulation (TENS). First, the algorithm was trained offline on a dataset comprising 49 subjects. Then, the neurostimulation was then integrated with a graphical user interface (GUI) to create an intuitive AI-based mapping platform enabling the user to autonomously perform the sensation characterization procedure. We assessed the algorithm against the performance of both experienced and naïve and of a brute force algorithm (BFA), on 15 nerves from five subjects. Then, we validated the AI-based platform on six neuropathic nerves affected by distal sensory loss. RESULTS: Our automatized approach demonstrated the ability to find the optimal values of neurostimulation achieving reliable and comfortable elicited sensations. When compared to alternatives, RL outperformed the naïve and BFA, significantly decreasing the time for mapping and the number of delivered stimulation trains, while improving the overall quality. Furthermore, the RL algorithm showed performance comparable to trained experimenters. Finally, we exploited it successfully for eliciting sensory feedback in neuropathic patients. CONCLUSIONS: Our findings demonstrated that the AI-based platform based on a RL algorithm can automatically and efficiently calibrate parameters for somatosensory nerve stimulation. This holds promise to avoid experts' employment in similar scenarios, thanks to the merging between AI and neurotech. Our RL algorithm has the potential to be used in other neuromodulation fields requiring a mapping process of the stimulation parameters. TRIAL REGISTRATION: ClinicalTrial.gov (Identifier: NCT04217005).

Peripheral neurostimulation for encoding artificial somatosensations.

The direct neural stimulation of peripheral or central nervous systems has been shown as an effective tool to treat neurological conditions. The electrical activation of the nervous sensory pathway can be adopted to restore the artificial sense of touch and proprioception in people suffering from sensory-motor disorders. The modulation of the neural stimulation parameters has a direct effect on the electrically induced sensations, both when targeting the somatosensory cortex and the peripheral somatic nerves. The properties of the artificial sensations perceived, as their location, quality and intensity are strongly dependent on the direct modulation of pulse width, amplitude and frequency of the neural stimulation. Different sensory encoding schemes have been tested in patients showing distinct effects and outcomes according to their impact on the neural activation. Here, I reported the most adopted neural stimulation strategies to artificially encode somatosensation into the peripheral nervous system. The real-time implementation of these strategies in bionic devices is crucial to exploit the artificial sensory feedback in prosthetics. Thus, neural stimulation becomes a tool to directly communicate with the human nervous system. Given the importance of adding artificial sensory information to neuroprosthetic devices to improve their control and functionality, the choice of an optimal neural stimulation paradigm could increase the impact of prosthetic devices on the quality of life of people with sensorimotor disabilities.

Sensory feedback for limb prostheses in amputees.

Commercial prosthetic devices currently do not provide natural sensory information on the interaction with objects or movements. The subsequent disadvantages include unphysiological walking with a prosthetic leg and difficulty in controlling the force exerted with a prosthetic hand, thus creating health issues. Restoring natural sensory feedback from the prosthesis to amputees is an unmet clinical need. An optimal device should be able to elicit natural sensations of touch or proprioception, by delivering the complex signals to the nervous system that would be produced by skin, muscles and joints receptors. This Review covers the various neurotechnological approaches that have been proposed for the development of the optimal sensory feedback restoration device for arm and leg amputees.

Brain network modulation in transradial amputee with finger perception restored through biomimetic intraneural stimulation.

INTRODUCTION/AIMS: The hand is a sophisticated tool which allows humans to interact with the external world mainly via the sense of touch. Previous evidences demonstrated that electrical stimulations of the nerve trunks governing the hand are able to restore touch perception in transradial amputees. The aim of this study was to evaluate the neurological correlates of restored perception by the evaluation of network characteristics of the brain connectome via EEG recordings in amputees utilizing a fully sensorized bionic hand. METHODS: A 48-year-old female with a left wrist traumatic disarticulation incurred 23 years prior to the study was enrolled for 6 months, during which experimental sessions were randomized. The control group included 12 healthy subjects performing a similar protocol. RESULTS: Results showed that in both amputee and control group, a trend of SW in delta and beta 1 is recognizable (Delta and Beta 1 opposite spread) selectively in the hemisphere contralateral to the stimulus. DISCUSSION: Delta increases (less orderly network) while Beta 1 decreases (more ordered network). It could be seen as a sign of higher attention and concentration of subjects to understand the perception and this monolateral modulation is similar to the bilateral attention given to the mathematical task difficulty's increment.

Six-Month Assessment of a Hand Prosthesis with Intraneural Tactile Feedback.

OBJECTIVE: Hand amputation is a highly disabling event, which significantly affects quality of life. An effective hand replacement can be achieved if the user, in addition to motor functions, is provided with the sensations that are naturally perceived while grasping and moving. Intraneural peripheral electrodes have shown promising results toward the restoration of the sense of touch. However, the long-term usability and clinical relevance of intraneural sensory feedback have not yet been clearly demonstrated. METHODS: To this aim, we performed a 6-month clinical study with 3 transradial amputees who received implants of transverse intrafascicular multichannel electrodes (TIMEs) in their median and ulnar nerves. After calibration, electrical stimulation was delivered through the TIMEs connected to artificial sensors in the digits of a prosthesis to generate sensory feedback, which was then used by the subjects while performing different grasping tasks. RESULTS: All subjects, notwithstanding their important clinical differences, reported stimulation-induced sensations from the phantom hand for the whole duration of the trial. They also successfully integrated the sensory feedback into their motor control strategies while performing experimental tests simulating tasks of real life (with and without the support of vision). Finally, they reported a decrement of their phantom limb pain and a general improvement in mood state. INTERPRETATION: The promising results achieved with all subjects show the feasibility of the use of intraneural stimulation in clinical settings. ANN NEUROL 2019;85:137-154.

A computational model to design neural interfaces for lower-limb sensory neuroprostheses.

BACKGROUND: Leg amputees suffer the lack of sensory feedback from a prosthesis, which is connected to their low confidence during walking, falls and low mobility. Electrical peripheral nerve stimulation (ePNS) of upper-limb amputee's residual nerves has shown the ability to restore the sensations from the missing limb via intraneural (TIME) and epineural (FINE) neural interfaces. Physiologically plausible stimulation protocols targeting lower limb sciatic nerve hold promise to induce sensory feedback restoration that should facilitate close-to-natural sensorimotor integration and therefore walking corrections. The sciatic nerve, innervating the foot and lower leg, has very different dimensions in respect to upper-limb nerves. Therefore, there is a need to develop a computational model of its behavior in response to the ePNS. METHODS: We employed a hybrid FEM-NEURON model framework for the development of anatomically correct sciatic nerve model. Based on histological images of two distinct sciatic nerve cross-sections, we reconstructed accurate FEM models for testing neural interfaces. Two different electrode types (based on TIME and FINE) with multiple active sites configurations were tested and evaluated for efficiency (selective recruitment of fascicles). We also investigated different policies of stimulation (monopolar and bipolar), as well as the optimal number of implants. Additionally, we optimized the existing simulation framework significantly reducing the computational load. RESULTS: The main findings achieved through our modelling study include electrode manufacturing and surgical placement indications, together with beneficial stimulation policy of use. It results that TIME electrodes with 20 active sites are optimal for lower limb and the same number has been obtained for FINE electrodes. To interface the huge sciatic nerve, model indicates that 3 TIMEs is the optimal number of surgically implanted electrodes. Through the bipolar policy of stimulation, all studied configurations were gaining in the efficiency. Also, an indication for the optimized computation is given, which decreased the computation time by 80%. CONCLUSIONS: This computational model suggests the optimal interfaces to use in human subjects with lower limb amputation, their surgical placement and beneficial bipolar policy of stimulation. It will potentially enable the clinical translation of the sensory neuroprosthetics towards the lower limb applications.

Sensitivity to temporal parameters of intraneural tactile sensory feedback.

BACKGROUND: Recent studies have shown that neural stimulation can be used to provide artificial sensory feedback to amputees eliciting sensations referred on the amputated hand. The temporal properties of the neural stimulation modulate aspects of evoked sensations that can be exploited in a bidirectional hand prosthesis. METHODS: We previously collected evidence that the derivative of the amplitude of the stimulation (intra-digit temporal dynamics) allows subjects to recognize object compliance and that the time delay among stimuli injected through electrodes implanted in different nerves (inter-digit temporal distance) allows to recognize object shapes. Nevertheless, a detailed characterization of the subjects' sensitivity to variations of intra-digit temporal dynamic and inter-digit temporal distance of the intraneural tactile feedback has not been executed. An exhaustive understanding of the overall potentials and limits of intraneural stimulation to deliver sensory feedback is of paramount importance to bring this approach closer and closer to the natural situation. To this aim, here we asked two trans-radial amputees to identify stimuli with different temporal characteristics delivered to the same active site (intra-digit temporal Dynamic Recognition (DR)) or between two active sites (inter-digit Temporal distance Recognition (TR)). Finally, we compared the results achieved for (simulated) TR with conceptually similar experiments with real objects with one subject. RESULTS: We found that the subjects were able to identify stimuli with temporal differences (perceptual thresholds) larger than 0.25 s for DR and larger than 0.125 s for TR, respectively. Moreover, we also found no statistically significant differences when the subjects were asked to identify three objects during simulated 'open-loop' TR experiments or real 'closed-loop' tests while controlling robotic hand. CONCLUSIONS: This study is a new step towards a more detailed analysis of the overall potentials and limits of intraneural sensory feedback. A full characterization is necessary to develop more advanced prostheses capable of restoring all lost functions and of being perceived more as a natural limb by users.

The Connection Between the Nervous System and Machines: Commentary.

Decades of technological developments have populated the field of brain-machine interfaces and neuroprosthetics with several replacement strategies, neural modulation treatments, and rehabilitation techniques to improve the quality of life for patients affected by sensory and motor disabilities. This field is now quickly expanding thanks to advances in neural interfaces, machine learning techniques, and robotics. Despite many clinical successes, and multiple innovations in animal models, brain-machine interfaces remain mainly confined to sophisticated laboratory environments indicating a necessary step forward in the used technology. Interestingly, Elon Musk and Neuralink have recently presented a new brain-machine interface platform with thousands of channels, fast implantation, and advanced signal processing. Here, how their work takes part in the context of the restoration of sensory-motor functions through neuroprostheses is commented.

Neuromorphic hardware for somatosensory neuroprostheses.

In individuals with sensory-motor impairments, missing limb functions can be restored using neuroprosthetic devices that directly interface with the nervous system. However, restoring the natural tactile experience through electrical neural stimulation requires complex encoding strategies. Indeed, they are presently limited in effectively conveying or restoring tactile sensations by bandwidth constraints. Neuromorphic technology, which mimics the natural behavior of neurons and synapses, holds promise for replicating the encoding of natural touch, potentially informing neurostimulation design. In this perspective, we propose that incorporating neuromorphic technologies into neuroprostheses could be an effective approach for developing more natural human-machine interfaces, potentially leading to advancements in device performance, acceptability, and embeddability. We also highlight ongoing challenges and the required actions to facilitate the future integration of these advanced technologies.

Bionic blink improves real-time eye closure in unilateral facial paralysis.

Facial paralysis is the inability to move facial muscles thereby impairing the ability to blink and make facial expressions. Depending on the localization of the nerve malfunction it is subcategorised into central or peripheral and is usually unilateral. This leads to health deficits stemming from corneal dryness and social ostracization.Objective: Electrical stimulation shows promise as a method through which to restore the blink function and as a result improve eye health. However, it is unknown whether a real-time, myoelectrically controlled, neurostimulating device can be used as assistance to this pathological condition.Approach: We developed NEURO-BLINK, a wearable robotic system, that can detect the volitional healthy contralateral blink through electromyography and electrically stimulate the impaired subcutaneous facial nerve and orbicularis oculi muscle to compensate for lost blink function. Alongside the system, we developed a method to evaluate optimal electrode placement through the relationship between blink amplitude and injected charge.Main results: Ten patients with unilateral facial palsy were enrolled in the NEURO-BLINK study, with eight completing testing under two conditions. (1) where the stimulation was cued with an auditory signal (i.e. paced controlled) and (2) synchronized with the natural blink (i.e. myoelectrically controlled). In both scenarios, overall eye closure (distance between eyelids) and cornea coverage measured with high FPS video were found to significantly improve when measured in real-time, while no significant clinical changes were found immediately after use.Significance: This work takes steps towards the development of a portable medical device for blink restoration and facial stimulation which has the potential to improve long-term ocular health.

Biomimetic computer-to-brain communication enhancing naturalistic touch sensations via peripheral nerve stimulation.

Artificial communication with the brain through peripheral nerve stimulation shows promising results in individuals with sensorimotor deficits. However, these efforts lack an intuitive and natural sensory experience. In this study, we design and test a biomimetic neurostimulation framework inspired by nature, capable of "writing" physiologically plausible information back into the peripheral nervous system. Starting from an in-silico model of mechanoreceptors, we develop biomimetic stimulation policies. We then experimentally assess them alongside mechanical touch and common linear neuromodulations. Neural responses resulting from biomimetic neuromodulation are consistently transmitted towards dorsal root ganglion and spinal cord of cats, and their spatio-temporal neural dynamics resemble those naturally induced. We implement these paradigms within the bionic device and test it with patients (ClinicalTrials.gov identifier NCT03350061). He we report that biomimetic neurostimulation improves mobility (primary outcome) and reduces mental effort (secondary outcome) compared to traditional approaches. The outcomes of this neuroscience-driven technology, inspired by the human body, may serve as a model for advancing assistive neurotechnologies.

Recalibration of neuromodulation parameters in neural implants with adaptive Bayesian optimization.

Objective. Neuromodulation technology holds promise for treating conditions where physiological mechanisms of neural activity have been affected. To make treatments efficient and devices highly effective, neurostimulation protocols must be personalized. The interface between the targeted nervous tissue and the neurotechnology (i.e. human-machine link or neural interface) usually requires constant re-calibration of neuromodulation parameters, due to many different biological and microscale phenomena happening over-time. This adaptation of the optimal stimulation parameters generally involves an expert-mediated re-calibration, with corresponding economic burden, compromised every-day usability and efficacy of the device, and consequent loss of time and increased discomfort of patients going back to clinics to get the device tuned. We aim to construct an adaptable AI-based system, able to compensate for these changes autonomously.Approach. We exploited Gaussian process-based Bayesian optimization (GPBO) methods to re-adjust the neurostimulation parameters in realistic neuroprosthetic data by integrating temporal information into the process to tackle the issue of time variability. To this aim, we built a predictive model able to tune the neuromodulation parameters in two separate crucial scenarios where re-calibration is needed. In the first one, we built a model able to find the optimal active sites in a multichannel electrode, i.e. able to cover a certain function for a neuroprosthesis, which in this specific case was the evoked-sensation location variability. In the second one, we propose an algorithm able to adapt the injected charge required to obtain a functional neural activation (e.g. perceptual threshold variability). By retrospectively collecting the outcomes from the calibration experiments in a human clinical trial utilizing implantable neuromodulation devices, we were able to quantitatively assess our GPBO-based approach in an offline setting.Main results.Our automatic algorithm can successfully adapt neurostimulation parameters to evoked-sensation location changes and to perceptual threshold changes over-time. These findings propose a quick, automatic way to tackle the inevitable variability of neurostimulation parameters over time. Upon validation in other frameworks it increases the usability of this technology through decreasing the time and the cost of the treatment supporting the potential for future widespread use. This work suggests the exploitation of AI-based methods for developing the next generation of 'smart' neuromodulation devices.

Symbiotic electroneural and musculoskeletal framework to encode proprioception via neurostimulation: ProprioStim.

Peripheral nerve stimulation in amputees achieved the restoration of touch, but not proprioception, which is critical in locomotion. A plausible reason is the lack of means to artificially replicate the complex activity of proprioceptors. To uncover this, we coupled neuromuscular models from ten subjects and nerve histologies from two implanted amputees to develop ProprioStim: a framework to encode proprioception by electrical evoking neural activity in close agreement with natural proprioceptive activity. We demonstrated its feasibility through non-invasive stimulation on seven healthy subjects comparing it with standard linear charge encoding. Results showed that ProprioStim multichannel stimulation was felt more natural, and hold promises for increasing accuracy in knee angle tracking, especially in future implantable solutions. Additionally, we quantified the importance of realistic 3D-nerve models against extruded models previously adopted for further design and validation of novel neurostimulation encoding strategies. ProprioStim provides clear guidelines for the development of neurostimulation policies restoring natural proprioception.

Reshaping the full body illusion through visuo-electro-tactile sensations.

The physical boundaries of our body do not define what we perceive as self. This malleable representation arises from the neural integration of sensory information coming from the environment. Manipulating the visual and haptic cues produces changes in body perception, inducing the Full Body Illusion (FBI), a vastly used approach to exploring humans' perception. After pioneering FBI demonstrations, issues arose regarding its setup, using experimenter-based touch and pre-recorded videos. Moreover, its outcome measures are based mainly on subjective reports, leading to biased results, or on heterogeneous objective ones giving poor consensus on their validity. To address these limitations, we developed and tested a multisensory platform allowing highly controlled experimental conditions, thanks to the leveraged use of innovative technologies: Virtual Reality (VR) and Transcutaneous Electrical Nerve Stimulation (TENS). This enabled a high spatial and temporal precision of the visual and haptic cues, efficiently eliciting FBI. While it matched the classic approach in subjective measures, our setup resulted also in significant results for all objective measurements. Importantly, FBI was elicited when all 4 limbs were multimodally stimulated but also in a single limb condition. Our results behoove the adoption of a comprehensive set of measures, introducing a new neuroscientific platform to investigate body representations.

Multiparametric non-linear TENS modulation to integrate intuitive sensory feedback.

Objective. Transcutaneous electrical nerve stimulation (TENS) has been recently introduced in neurorehabilitation and neuroprosthetics as a promising, non-invasive sensory feedback restoration alternative to implantable neurostimulation. Yet, the adopted stimulation paradigms are typically based on single-parameter modulations (e.g. pulse amplitude (PA), pulse-width (PW) or pulse frequency (PF)). They elicit artificial sensations characterized by a low intensity resolution (e.g. few perceived levels), low naturalness and intuitiveness, hindering the acceptance of this technology. To address these issues, we designed novel multiparametric stimulation paradigms, featuring the simultaneous modulation of multiple parameters, and implemented them in real-time tests of performance when exploited as artificial sensory inputs.Approach. We initially investigated the contribution of PW and PF variations to the perceived sensation magnitude through discrimination tests. Then, we designed three multiparametric stimulation paradigms comparing them with a standard PW linear modulation in terms of evoked sensation naturalness and intensity. The most performant paradigms were then implemented in real-time in a Virtual Reality-TENS platform to assess their ability to provide intuitive somatosensory feedback in a functional task.Main results. Our study highlighted a strong negative correlation between perceived naturalness and intensity: less intense sensations are usually deemed as more similar to natural touch. In addition, we observed that PF and PW changes have a different weight on the perceived sensation intensity. As a result, we adapted the activation charge rate (ACR) equation, proposed for implantable neurostimulation to predict the perceived intensity while co-modulating the PF and charge per pulse, to TENS (ACRT). ACRTallowed to design different multiparametric TENS paradigms with the same absolute perceived intensity. Although not reported as more natural, the multiparametric paradigm, based on sinusoidal PF modulation, resulted being more intuitive and subconsciously integrated than the standard linear one. This allowed subjects to achieve a faster and more accurate functional performance.Significance. Our findings suggest that TENS-based, multiparametric neurostimulation, despite not consciously perceived naturally, can provide integrated and more intuitive somatosensory information, as functionally proved. This could be exploited to design novel encoding strategies able to improve the performance of non-invasive sensory feedback technologies.

Sensory-Motor Neurostimulation to Enhance Exosuit Performance.

Exosuits typically provide limited mechanical support and rely on a user's residual functional ability. However, people with neurological impairments often suffer from both motor and sensory deficits that limit the assistance an exosuit can provide. To overcome these limitations, we developed the REINFORCE system, that complements the mechanical assistance provided by an exosuit, the Myosuit, with (1) functional electrical stimulation to enhance the activities of leg muscles, and (2) transcutaneous electrical nerve stimulation to restore somatosensory information. It consists of a fully portable and highly modular system that can be easily adapted to the level of impairment and specific need of each participant. Technical verification with three healthy participants showed reliable synchronization between all modules of the systems in all phases of walking. Additionally, we tested the system's effectiveness in one participant with multiple sclerosis who walked overground with and without functional electrical stimulation. Results showed a slight increase in self-selected walking speed (approx. 18%) and in the peak hip flexion at late swing (approx. 12%) as well as reduced step-to-step variability of step length and step time when electrical stimulation was provided. Our findings push towards a clinical trial involving more patients to validate the effectiveness of the REINFORCE system on participants' mobility.

Cascading events during the 1650 tsunamigenic eruption of Kolumbo volcano.

Volcanic eruptions can trigger tsunamis, which may cause significant damage to coastal communities and infrastructure. Tsunami generation during volcanic eruptions is complex and often due to a combination of processes. The 1650 eruption of the Kolumbo submarine volcano triggered a tsunami causing major destruction on surrounding islands in the Aegean Sea. However, the source mechanisms behind the tsunami have been disputed due to difficulties in sampling and imaging submarine volcanoes. Here we show, based on three-dimensional seismic data, that ~1.2 km³ of Kolumbo's northwestern flank moved 500-1000 m downslope along a basal detachment surface. This movement is consistent with depressurization of the magma feeding system, causing a catastrophic explosion. Numerical tsunami simulations indicate that only the combination of flank movement followed by an explosive eruption can explain historical eyewitness accounts. This cascading sequence of natural hazards suggests that assessing submarine flank movements is critical for early warning of volcanogenic tsunamis.

Biomimetic multi-channel microstimulation of somatosensory cortex conveys high resolution force feedback for bionic hands.

Manual interactions with objects are supported by tactile signals from the hand. This tactile feedback can be restored in brain-controlled bionic hands via intracortical microstimulation (ICMS) of somatosensory cortex (S1). In ICMS-based tactile feedback, contact force can be signaled by modulating the stimulation intensity based on the output of force sensors on the bionic hand, which in turn modulates the perceived magnitude of the sensation. In the present study, we gauged the dynamic range and precision of ICMS-based force feedback in three human participants implanted with arrays of microelectrodes in S1. To this end, we measured the increases in sensation magnitude resulting from increases in ICMS amplitude and participant's ability to distinguish between different intensity levels. We then assessed whether we could improve the fidelity of this feedback by implementing "biomimetic" ICMS-trains, designed to evoke patterns of neuronal activity that more closely mimic those in natural touch, and by delivering ICMS through multiple channels at once. We found that multi-channel biomimetic ICMS gives rise to stronger and more distinguishable sensations than does its single-channel counterpart. Finally, we implemented biomimetic multi-channel feedback in a bionic hand and had the participant perform a compliance discrimination task. We found that biomimetic multi-channel tactile feedback yielded improved discrimination over its single-channel linear counterpart. We conclude that multi-channel biomimetic ICMS conveys finely graded force feedback that more closely approximates the sensitivity conferred by natural touch.