Distributed sensing along fibers for smart clothing.

Textile sensors transform our everyday clothing into a means to track movement and biosignals in a completely unobtrusive way. One major hindrance to the adoption of "smart" clothing is the difficulty encountered with connections and space when scaling up the number of sensors. There is a lack of research addressing a key limitation in wearable electronics: Connections between rigid and textile elements are often unreliable, and they require interfacing sensors in a way incompatible with textile mass production methods. We introduce a prototype garment, compact readout circuit, and algorithm to measure localized strain along multiple regions of a fiber. We use a helical auxetic yarn sensor with tunable sensitivity along its length to selectively respond to strain signals. We demonstrate distributed sensing in clothing, monitoring arm joint angles from a single continuous fiber. Compared to optical motion capture, we achieve around five degrees error in reconstructing shoulder, elbow, and wrist joint angles.

Textile-Based Body Capacitive Sensing for Knee Angle Monitoring.

Monitoring human movement is highly relevant in mobile health applications. Textile-based wearable solutions have the potential for continuous and unobtrusive monitoring. The precise estimation of joint angles is important in applications such as the prevention of osteoarthritis or in the assessment of the progress of physical rehabilitation. We propose a textile-based wearable device for knee angle estimation through capacitive sensors placed in different locations above the knee and in contact with the skin. We exploited this modality to enhance the baseline value of the capacitive sensors, hence facilitating readout. Moreover, the sensors are fabricated with only one layer of conductive fabric, which facilitates the design and realization of the wearable device. We observed the capability of our system to predict knee sagittal angle in comparison to gold-standard optical motion capture during knee flexion from a seated position and squats: the results showed an R2 coefficient between 0.77 and 0.99, root mean squared errors between 4.15 and 12.19 degrees, and mean absolute errors between 3.28 and 10.34 degrees. Squat movements generally yielded more accurate predictions than knee flexion from a seated position. The combination of the data from multiple sensors resulted in R2 coefficient values of 0.88 or higher. This preliminary work demonstrates the feasibility of the presented system. Future work should include more participants to further assess the accuracy and repeatability in the presence of larger interpersonal variability.

Feasibility of force myography for the direct control of an assistive robotic hand orthosis in non-impaired individuals.

BACKGROUND: Assistive robotic hand orthoses can support people with sensorimotor hand impairment in many activities of daily living and therefore help to regain independence. However, in order for the users to fully benefit from the functionalities of such devices, a safe and reliable way to detect their movement intention for device control is crucial. Gesture recognition based on force myography measuring volumetric changes in the muscles during contraction has been previously shown to be a viable and easy to implement strategy to control hand prostheses. Whether this approach could be efficiently applied to intuitively control an assistive robotic hand orthosis remains to be investigated. METHODS: In this work, we assessed the feasibility of using force myography measured from the forearm to control a robotic hand orthosis worn on the hand ipsilateral to the measurement site. In ten neurologically-intact participants wearing a robotic hand orthosis, we collected data for four gestures trained in nine arm configurations, i.e., seven static positions and two dynamic movements, corresponding to typical activities of daily living conditions. In an offline analysis, we determined classification accuracies for two binary classifiers (one for opening and one for closing) and further assessed the impact of individual training arm configurations on the overall performance. RESULTS: We achieved an overall classification accuracy of 92.9% (averaged over two binary classifiers, individual accuracies 95.5% and 90.3%, respectively) but found a large variation in performance between participants, ranging from 75.4 up to 100%. Averaged inference times per sample were measured below 0.15 ms. Further, we found that the number of training arm configurations could be reduced from nine to six without notably decreasing classification performance. CONCLUSION: The results of this work support the general feasibility of using force myography as an intuitive intention detection strategy for a robotic hand orthosis. Further, the findings also generated valuable insights into challenges and potential ways to overcome them in view of applying such technologies for assisting people with sensorimotor hand impairment during activities of daily living.

Passive and Wireless All-Textile Wearable Sensor System.

Mobile health technology and activity tracking with wearable sensors enable continuous unobtrusive monitoring of movement and biophysical parameters. Advancements in clothing-based wearable devices have employed textiles as transmission lines, communication hubs, and various sensing modalities; this area of research is moving towards complete integration of circuitry into textile components. A current limitation for motion tracking is the need for communication protocols demanding physical connection of textile with rigid devices, or vector network analyzers (VNA) with limited portability and lower sampling rates. Inductor-capacitor (LC) circuits are ideal candidates as textile sensors can be easily implemented with textile components and allow wireless communication. In this paper, the authors report a smart garment that can sense movement and wirelessly transmit data in real time. The garment features a passive LC sensor circuit constructed of electrified textile elements that sense strain and communicate through inductive coupling. A portable, lightweight reader (fReader) is developed for achieving a faster sampling rate than a downsized VNA to track body movement, and for wirelessly reading sensor information suitable for deployment with a smartphone. The smart garment-fReader system monitors human movement in real-time and exemplifies the potential of textile-based electronics moving forward.

Investigation of Regression Methods for Reduction of Errors Caused by Bending of FSR-Based Pressure Sensing Systems Used for Prosthetic Applications.

The pressure map at the interface of a prosthetic socket and a residual limb contains information that can be used in various prosthetic applications including prosthetic control and prosthetic fitting. The interface pressure is often obtained using force sensitive resistors (FSRs). However, as reported by multiple studies, accuracies of the FSR-based pressure sensing systems decrease when sensors are bent to be positioned on a limb. This study proposes the use of regression-based methods for sensor calibration to address this problem. A sensor matrix was placed in a pressure chamber as the pressure was increased and decreased in a cyclic manner. Sensors' responses were assessed when the matrix was placed on a flat surface or on one of five curved surfaces with various curvatures. Three regression algorithms, namely linear regression (LR), general regression neural network (GRNN), and random forest (RF), were assessed. GRNN was selected due to its performance. Various error compensation methods using GRNN were investigated and compared to improve instability of sensors' responses. All methods showed improvements in results compared to the baseline. Developing a different model for each of the curvatures yielded the best results. This study proved the feasibility of using regression-based error compensation methods to improve the accuracy of mapping sensor readings to pressure values. This can improve the overall accuracy of FSR-based sensory systems used in prosthetic applications.

Investigation of Channel Selection for Gesture Classification for Prosthesis Control Using Force Myography: A Case Study.

Background: Various human machine interfaces (HMIs) are used to control prostheses, such as robotic hands. One of the promising HMIs is Force Myography (FMG). Previous research has shown the potential for the use of high density FMG (HD-FMG) that can lead to higher accuracy of prosthesis control. Motivation: The more sensors used in an FMG controlled system, the more complicated and costlier the system becomes. This study proposes a design method that can produce powered prostheses with performance comparable to that of HD-FMG controlled systems using a fewer number of sensors. An HD-FMG apparatus would be used to collect information from the user only in the design phase. Channel selection would then be applied to the collected data to determine the number and location of sensors that are vital to performance of the device. This study assessed the use of multiple channel selection (CS) methods for this purpose. Methods: In this case study, three datasets were used. These datasets were collected from force sensitive resistors embedded in the inner socket of a subject with transradial amputation. Sensor data were collected as the subject carried out five repetitions of six gestures. Collected data were then used to asses five CS methods: Sequential forward selection (SFS) with two different stopping criteria, minimum redundancy-maximum relevance (mRMR), genetic algorithm (GA), and Boruta. Results: Three out of the five methods (mRMR, GA, and Boruta) were able to decrease channel numbers significantly while maintaining classification accuracy in all datasets. Neither of them outperformed the other two in all datasets. However, GA resulted in the smallest channel subset in all three of the datasets. The three selected methods were also compared in terms of stability [i.e., consistency of the channel subset chosen by the method as new training data were introduced or some training data were removed (Chandrashekar and Sahin, 2014)]. Boruta and mRMR resulted in less instability compared to GA when applied to the datasets of this study. Conclusion: This study shows feasibility of using the proposed design method that can produce prosthetic systems that are simpler than HD-FMG systems but have performance comparable to theirs.