A perspective-based analysis of attachment from prenatal period to second year postnatal life.

Attachment is one of the foundational themes in the history of the psychological development of human beings. For this reason, we assume that it must be approached by taking into account multiple scientific perspectives. The present review aims at analyzing the state of the art regarding the genetic, neurobiological and cognitive mechanisms underlying the development of attachment bonding, considering the child as the frame of reference. We hypothesize that attachment may be present in prototypical forms even in the prenatal period, thus our analysis has a temporal origin in the intrauterine period preceding birth. The intrauterine period is assumed to be a period of maximum sensitivity to stimuli and in particular to those coming from a potential primary caregiver: the biological mother. We conclude with a reframing of the state of the art and propose that future research work would benefit from a superordinate model of attachment, capable of containing and regulating all its components and variables.

The Fondazione Toscana Gabriele Monasterio app: a digital health system to improve wellbeing of inpatients with heart or lung disease.

BACKGROUND: An app providing material for education and entertaining is a possible way to support patients and healthcare providers in achieving person-centered care. METHODS: An app tailored on the Fondazione Toscana Gabriele Monasterio (FTGM), a research hospital treating cardiac and lung disorders, was created. A pilot evaluation project was conducted on consecutive patients hospitalized for heart or lung disorders. Patients were asked to complete an assessment questionnaire. RESULTS: The FTGM app provides information on diagnostic and therapeutic investigations, hospital and healthcare personnel, and includes content for entertainment and learning. It was tested on 215 consecutive patients (75% men, 66% aged >60 years, and 40% with a primary or middle school degree). Sixty-nine percentage of patients used the FTGM app, including 67% of patients aged >80 years and 65% of those with an elementary education (65%). Patients gave positive feedback on the app layout. Many (76%) looked for information on doctors and nurses in the 'People' section. Sixty-five percent of responders had used at least one of the sections called 'Music' and 'Museum visits'. The app helped many patients perceive the hospital as a more liveable place (68%), and to feel less anxious (76%), and more engaged in the diagnostic and therapeutic workup (65%). Overall, the majority of responders (87%) rated the app as 'excellent' or 'good', and almost all (95%) would have recommended other patients to use the app. CONCLUSIONS: The FTGM app is a possible tool to improve patient wellbeing during hospitalization.

Closed-Chain Inverse Dynamics for the Biomechanical Analysis of Manual Material Handling Tasks through a Deep Learning Assisted Wearable Sensor Network.

Despite the automatization of many industrial and logistics processes, human workers are still often involved in the manual handling of loads. These activities lead to many work-related disorders that reduce the quality of life and the productivity of aged workers. A biomechanical analysis of such activities is the basis for a detailed estimation of the biomechanical overload, thus enabling focused prevention actions. Thanks to wearable sensor networks, it is now possible to analyze human biomechanics by an inverse dynamics approach in ecological conditions. The purposes of this study are the conceptualization, formulation, and implementation of a deep learning-assisted fully wearable sensor system for an online evaluation of the biomechanical effort that an operator exerts during a manual material handling task. In this paper, we show a novel, computationally efficient algorithm, implemented in ROS, to analyze the biomechanics of the human musculoskeletal systems by an inverse dynamics approach. We also propose a method for estimating the load and its distribution, relying on an egocentric camera and deep learning-based object recognition. This method is suitable for objects of known weight, as is often the case in logistics. Kinematic data, along with foot contact information, are provided by a fully wearable sensor network composed of inertial measurement units. The results show good accuracy and robustness of the system for object detection and grasp recognition, thus providing reliable load estimation for a high-impact field such as logistics. The outcome of the biomechanical analysis is consistent with the literature. However, improvements in gait segmentation are necessary to reduce discontinuities in the estimated lower limb articular wrenches.

Virtual Reality Training for Post-Earthquake Rescue Operators.

Urban Search And Rescue (USAR) personnel need to be appropriately trained to effectively operate in post-disaster conditions, as they need to quickly identify locations where the presence of survivors is more likely. Currently, the training procedure for this kind of triage is based on showing static pictures presenting different types of building collapses accompanied by cards providing additional environmental information. This article presents VRescue, a simulator for training USAR operators using the paradigm of immersive virtual reality (VR). VRescue recreates a range of operation conditions (day/night, presence of people, dangerous locations, etc.) experienced by real rescuers, and enables learning the use of the equipment commonly used in such scenarios.

Using co-creation to develop a cardiology online open course: an effective approach for implementing digital learning.

AIMS: we developed a massive online open course (MOOC) through co-creation between medical students and academic staff on heart semeiotics and evaluated its teaching efficiency and user satisfaction. METHODS: "The Heart, Its Signs and Symptoms" was a MOOC aimed to teach medical students to collect clinical history and perform physical examination of patients presenting with chest pain, dyspnea, palpitations, or syncope. It consisted of 4 interactive cases with preliminary, interim and final evaluation tests. A group of medical students, with the supervision of a multidisciplinary team of University professors residents, health management and informatics researchers developed the MOOC. RESULTS: Users (n = 701) registered to the online platform over 1 month. Students from 34 of the 40 Italian medical faculties participated. 96% of those who started the online course completed at least one of the 4 modules. Among users completing both the preliminary test and the final exam (n = 239, 34% of those registered to the online platform), the percentage of subjects passing the evaluation test raised s from 74% to 95% after the course. Younger age, attendance of Universities in Southern Italy, and a lower number of correct answers during the pre-test predicted a greater increase in the number of correct answers; Almost all participants who provided a feedback (n = 238) felt satisfied by the course. CONCLUSIONS: Partnership of medical students and academic staff was a key asset for the success of the initiative. The high rate of involvement and positive feedback from learners suggest a still unmet need for online learning resources.

Inter-brain co-activations during mindfulness meditation. Implications for devotional and clinical settings.

Mindfulness meditation usually takes place as personal, introspective activity. It is not known if this practice activates the brain differently when done alone or with someone else. Sixteen couples of expert meditators performed mindfulness-oriented meditation (MOM) and instructed mind-wandering (IMW) tasks in two conditions: once sitting in the same room (SR) and once in two different rooms (DR). Spontaneous electroencephalographic (EEG) data was collected during 7-minute recording sessions in the four experimental settings (MOM/SR, MOM/DR, IMW/SR, IMW/DR). Power in band was computed in separate clusters of independent components of the EEG signals. In addition to significant task effects, found in frontolimbic (MOM > IMW in gamma) and frontoparietal locations (MOM < IMW in theta), significant condition effects were found in frontal (SR > DR in delta) and in temporo-occipital regions (SR > DR in theta and alpha). Moreover, a significant interaction between task and condition revealed higher gamma activity in limbic areas during MOM/SR vs. MOM/DR settings. This effect was not attributable to gender, age nor the meditation expertise of participants. We thus show that the brains of two people work differently when they are doing something together or alone; some of these differences are specific to mindfulness meditation. Implications for devotional and clinical settings are discussed.

Do Virtual Humans Dream of Digital Sheep?

As human beings, we are so used to interacting with each other that any world without humans would feel alien to us, including digital ones. In this article, we present a survey on the role of digital human-like characters in virtual worlds, both as counterparts of real human users and as embodied agents driven by artificial intelligence. The main issues related to 3-D graphics, physics, animation, and behavioral modeling are introduced, suggesting wherever available different alternatives and related development pipelines. A sizeable list of examples illustrating the use of virtual humans in different application sectors is then presented, focusing in particular on four domains: environmental design, training, cultural heritage, and healthcare.

Spontaneous eye movements during focused-attention mindfulness meditation.

Oculometric measures have been proven to be useful markers of mind-wandering during visual tasks such as reading. However, little is known about ocular activity during mindfulness meditation, a mental practice naturally involving mind-wandering episodes. In order to explore this issue, we extracted closed-eyes ocular movement measurements via a covert technique (EEG recordings) from expert meditators during two repetitions of a 7-minute mindfulness meditation session, focusing on the breath, and two repetitions of a 7-minute instructed mind-wandering task. Power spectral density was estimated on both the vertical and horizontal components of eye movements. The results show a significantly smaller average amplitude of eye movements in the delta band (1-4 Hz) during mindfulness meditation than instructed mind-wandering. Moreover, participants' meditation expertise correlated significantly with this average amplitude during both tasks, with more experienced meditators generally moving their eyes less than less experienced meditators. These findings suggest the potential use of this measure to detect mind-wandering episodes during mindfulness meditation and to assess meditation performance.

An Orthopaedic Robotic-Assisted Rehabilitation Method of the Forearm in Virtual Reality Physiotherapy.

The use of robotic rehabilitation in orthopaedics has been briefly explored. Despite its possible advantages, the use of computer-assisted physiotherapy of patients with musculoskeletal injuries has received little attention. In this paper, we detailed the development and evaluation of a robotic-assisted rehabilitation system as a new methodology of assisted physiotherapy in orthopaedics. The proposal consists of an enhanced end-effector haptic interface mounted in a passive mechanism for allowing patients to perform upper-limb exercising and integrates virtual reality games conceived explicitly for assisting the treatment of the forearm after injuries at the wrist or elbow joints. The present methodology represents a new approach to assisted physiotherapy for strength and motion recovery of wrist pronation/supination and elbow flexion-extension movements. We design specific game scenarios enriched by proprioceptive and haptic force feedback in three training modes: passive, active, and assisted exercising. The system allows the therapist to tailor the difficulty level on the observed motion capacity of the patients and the kinesiology measurements provided by the system itself. We evaluated the system through the analysis of the muscular activity of two healthy subjects, showing that the system can assign significant working loads during typical physiotherapy treatment profiles. Subsequently, a group of ten patients undergoing manual orthopaedic rehabilitation of the forearm tested the system, under similar conditions at variable intensities. Patients tolerated changes in difficulty through the tests, and they expressed a favourable opinion of the system through the administered questionnaires, which indicates that the system was well accepted and that the proposed methodology was feasible for the case study for subsequently controlled trials. Finally, a predictive model of the performance score in the form of a linear combination of kinesiology observations was implemented in function of difficult training parameters, as a way of systematically individualising the training during the therapy, for subsequent studies.

Effects of Continuous Kinaesthetic Feedback Based on Tendon Vibration on Motor Imagery BCI Performance.

BACKGROUND AND OBJECTIVES: Feedback plays a crucial role for using brain computer interface systems. This paper proposes the use of vibration-evoked kinaesthetic illusions as part of a novel multisensory feedback for a motor imagery (MI)-based BCI and investigates its contributions in terms of BCI performance and electroencephalographic (EEG) correlates. METHODS: sixteen subjects performed two different right arm MI-BCI sessions: with the visual feedback only and with both visual and vibration-evoked kinaesthetic feedback, conveyed by the stimulation of the biceps brachi tendon. In both conditions, the sensory feedback was driven by the MI-BCI. The rich and more natural multisensory feedback was expected to facilitate the execution of MI, and thus to improve the performance of the BCI. The EEG correlates of the proposed feedback were also investigated with and without the performing of MI. RESULTS AND CONCLUSIONS: the contribution of vibration-evoked kinaesthetic feedback led to statistically higher BCI performance (Anova, F(1,14) = 18.1, p < .01) and more stable EEG event-related-desynchronization. Obtained results suggest promising application of the proposed method in neuro-rehabilitation scenarios: the advantage of an improved usability could make the MI-BCIs more applicable for those patients having difficulties in performing kinaesthetic imagery.

Local and Remote Cooperation With Virtual and Robotic Agents: A P300 BCI Study in Healthy and People Living With Spinal Cord Injury.

The development of technological applications that allow people to control and embody external devices within social interaction settings represents a major goal for current and future brain-computer interface (BCI) systems. Prior research has suggested that embodied systems may ameliorate BCI end-user's experience and accuracy in controlling external devices. Along these lines, we developed an immersive P300-based BCI application with a head-mounted display for virtual-local and robotic-remote social interactions and explored in a group of healthy participants the role of proprioceptive feedback in the control of a virtual surrogate (Study 1). Moreover, we compared the performance of a small group of people with spinal cord injury (SCI) to a control group of healthy subjects during virtual and robotic social interactions (Study 2), where both groups received a proprioceptive stimulation. Our attempt to combine immersive environments, BCI technologies and neuroscience of body ownership suggests that providing realistic multisensory feedback still represents a challenge. Results have shown that healthy and people living with SCI used the BCI within the immersive scenarios with good levels of performance (as indexed by task accuracy, optimizations calls and Information Transfer Rate) and perceived control of the surrogates. Proprioceptive feedback did not contribute to alter performance measures and body ownership sensations. Further studies are necessary to test whether sensorimotor experience represents an opportunity to improve the use of future embodied BCI applications.

Vitality Forms Processing in the Insula during Action Observation: A Multivoxel Pattern Analysis.

Observing the style of an action done by others allows the observer to understand the cognitive state of the agent. This information has been defined by Stern "vitality forms". Previous experiments showed that the dorso-central insula is selectively active both during vitality form observation and execution. In the present study, we presented participants with videos showing hand actions performed with different velocities and asked them to judge either their vitality form (gentle, neutral, rude) or their velocity (slow, medium, fast). The aim of the present study was to assess, using multi-voxel pattern analysis, whether vitality forms and velocities of observed goal-directed actions are differentially processed in the insula, and more specifically whether action velocity is encoded per se or it is an element that triggers neural populations of the insula encoding the vitality form. The results showed that, consistently across subjects, in the dorso-central sector of the insula there were voxels selectively tuned to vitality forms, while voxel tuned to velocity were rare. These results indicate that the dorso-central insula, which previous data showed to be involved in the vitality form processing, contains voxels specific for the action style processing.

EEG ultradian rhythmicity differences in disorders of consciousness during wakefulness.

Temporal fluctuations of cognitively-mediated behaviors in minimally conscious state (MCS) have been linked to changes of awareness, but the time-pattern of these variations remains ill-described. We analyzed 4-h EEG recordings from 12 patients with disorders of consciousness (6 MCS and 6 vegetative state/unresponsive wakefulness syndrome, VS/UWS). Relative powers (delta, theta, alpha, beta1 and beta2 bands) and spectral entropy were estimated (Fz, Cz and Pz derivations). Spectral entropy time-courses were then analyzed. MCS patients had higher theta and alpha and lower delta power when compared to VS/UWS. They showed higher spectral entropy mean value and higher time variability. MCS patients were characterized by spectral entropy fluctuations with periodicities of 70 min (range 57-80 min). Notably, these periodicities closely resemble those described in awake healthy subjects, which were hypothesized to be related to fluctuation in vigilance/attention. No significant periodicity was observed for VS/UWS. The spectral entropy periodicity found in MCS patients could reflect the fluctuation of awareness responsible for the inconsistency of MCS manifestation of cognitively-mediated behaviors. The presence of a 70 min periodicity in spectral entropy could permit clinicians to better choose their time-window when performing a clinical assessment of consciousness. It could also permit to monitor fluctuations in cognitive performance (i.e., response to command) during complementary testing by passive or active electrophysiological or functional neuroimaging paradigms or in resting state conditions.

Evaluation of the effects of the Arm Light Exoskeleton on movement execution and muscle activities: a pilot study on healthy subjects.

BACKGROUND: Exoskeletons for lower and upper extremities have been introduced in neurorehabilitation because they can guide the patient's limb following its anatomy, covering many degrees of freedom and most of its natural workspace, and allowing the control of the articular joints. The aims of this study were to evaluate the possible use of a novel exoskeleton, the Arm Light Exoskeleton (ALEx), for robot-aided neurorehabilitation and to investigate the effects of some rehabilitative strategies adopted in robot-assisted training. METHODS: We studied movement execution and muscle activities of 16 upper limb muscles in six healthy subjects, focusing on end-effector and joint kinematics, muscle synergies, and spinal maps. The subjects performed three dimensional point-to-point reaching movements, without and with the exoskeleton in different assistive modalities and control strategies. RESULTS: The results showed that ALEx supported the upper limb in all modalities and control strategies: it reduced the muscular activity of the shoulder's abductors and it increased the activity of the elbow flexors. The different assistive modalities favored kinematics and muscle coordination similar to natural movements, but the muscle activity during the movements assisted by the exoskeleton was reduced with respect to the movements actively performed by the subjects. Moreover, natural trajectories recorded from the movements actively performed by the subjects seemed to promote an activity of muscles and spinal circuitries more similar to the natural one. CONCLUSIONS: The preliminary analysis on healthy subjects supported the use of ALEx for post-stroke upper limb robotic assisted rehabilitation, and it provided clues on the effects of different rehabilitative strategies on movement and muscle coordination.

Desktop Haptic Interface for Simulation of Hand-Tremor.

This paper presents a haptic system that is conceived to support the design process of a class of products or services in order to make them more accessible to people affected by hand tremor diseases. The main aim is to foster the designer empathy allowing her/him to directly feel the effect of the impairment in first person. Specifically, a desktop haptic device is employed to induce a programmable hand-tremor, that is typically observed in people affected by some kind of neurological diseases, on healthy subjects (i.e., the designers). The developed tool is based on a wrist-attached haptic interface with a workspace that is comparable to that of the arm of the user. Such device is able to exert controlled forces on the user's wrist and induces a hand-tremor whose frequency and amplitude are correlated with those measured on impaired people. The control of the device is based on a custom trajectory-tracking algorithm that takes as input tremor signals that are acquired on patients using an optical motion tracking system. In this paper, we present the employed haptic system, the structure of the control system and the experimental validation of the controller done through the acquisition of data on six patients affected by Parkinson's disease.

N400-like responses to three-chord harmonic sequences with unexpected out of key endings: scalp topography, cortical sources, and perspectives for a clinical use.

A series of ERP components, each provided with both a precise timing with respect to stimulation and a specific cortical localization, reflects the temporal succession of processing stages of music information. This makes the musical stimulus potentially usable to probe residual brain functions in non-communicating patients with disorders of consciousness. In an attempt to find a simple stimulation protocol that was suitable for use in a clinical setting, the purpose of this study was to verify whether a minimum-length musical stimulus, provided with a definite music-syntactic connotation, was still able to elicit musical ERPs in a group of eight healthy subjects. The stimulus was composed of the minimum number of chords necessary and sufficient to enable the subject to predict a plausible closure of the sequence (priming) and, at the same time, to provide him/her with the closing chord of the sequence (target), either congruous (probable closing) or not (improbable closing) to the tonal context. The subject's task was to discriminate and recognize the irregular targets. The components that were expected to be elicited, in this experimental situation, were ERAN, N5, P600/LPC. Conversely, in addition to these former components, we unexpectedly observed a N400-like component. To determine whether this component was a real N400, we submitted our data to a sLORETA analysis in order to identify its cortical generators. Irregular chords showed higher current densities with respect to regular ones on the right-sided medial and superior temporal gyri, superior and inferior parietal lobules, fusiform and parahippocampal gyri, and on the bilateral posterior cingulate cortex. In particular, the N400-like wave seems to share with the word-primed music-elicited N400 certain generators that are located in cortical areas BA 21/37 and BA 22. This suggests that even chord-primed chord targets can convey extra-musical meanings and that, consequently, they might be useful in assessing residual higher-order information-processing capabilities in non-communicating patients with disorders of consciousness.

Hypnotizability and the position sense: proprioceptive localization of the hand.

We  investigated whether healthy subjects with high (highs) and low (lows) hypnotizability scores differ in the ability to report the position of their right hand in the horizontal plane at the end of passive and active arm movements directed to lateral, intermediate and medial targets of the right hemispace under correct or incorrect visual feedback. Results showed that incorrect visual feedback increased the error in both groups. In lows, the error was similar after active and passive movements; in highs, it was lower for active than passive movements toward the medial position, but lower for passive than for active movements for the lateral one. The highs' error was significantly lower than the lows' one only for the active movements directed toward the medial hand position. Hypnotizability-related differences may be due to different role of efferent copies in highs and lows.

Looking for a precursor of spontaneous Sleep Slow Oscillations in human sleep: The role of the sigma activity.

Sleep Slow Oscillations (SSOs), paradigmatic EEG markers of cortical bistability (alternation between cellular downstates and upstates), and sleep spindles, paradigmatic EEG markers of thalamic rhythm, are two hallmarks of sleeping brain. Selective thalamic lesions are reportedly associated to reductions of spindle activity and its spectrum ~14 Hz (sigma), and to alterations of SSO features. This apparent, parallel behavior suggests that thalamo-cortical entrainment favors cortical bistability. Here we investigate temporally-causal associations between thalamic sigma activity and shape, topology, and dynamics of SSOs. We recorded sleep EEG and studied whether spatio-temporal variability of SSO amplitude, negative slope (synchronization in downstate falling) and detection rate are driven by cortical-sigma-activity expression (12-18Hz), in 3 consecutive 1s-EEG-epochs preceding each SSO event (Baselines). We analyzed: (i) spatial variability, comparing maps of baseline sigma power and of SSO features, averaged over the first sleep cycle; (ii) event-by-event shape variability, computing for each electrode correlations between baseline sigma power and amplitude/slope of related SSOs; (iii) event-by-event spreading variability, comparing baseline sigma power in electrodes showing an SSO event with the homologous ones, spared by the event. The scalp distribution of baseline sigma power mirrored those of SSO amplitude and slope; event-by-event variability in baseline sigma power was associated with that in SSO amplitude in fronto-central areas; within each SSO event, electrodes involved in cortical bistability presented higher baseline sigma activity than those free of SSO. In conclusion, spatio-temporal variability of thalamocortical entrainment, measured by background sigma activity, is a reliable estimate of the cortical proneness to bistability.

An EMG-Controlled Robotic Hand Exoskeleton for Bilateral Rehabilitation.

This paper presents a novel electromyography (EMG)-driven hand exoskeleton for bilateral rehabilitation of grasping in stroke. The developed hand exoskeleton was designed with two distinctive features: (a) kinematics with intrinsic adaptability to patient's hand size, and (b) free-palm and free-fingertip design, preserving the residual sensory perceptual capability of touch during assistance in grasping of real objects. In the envisaged bilateral training strategy, the patient's non paretic hand acted as guidance for the paretic hand in grasping tasks. Grasping force exerted by the non paretic hand was estimated in real-time from EMG signals, and then replicated as robotic assistance for the paretic hand by means of the hand-exoskeleton. Estimation of the grasping force through EMG allowed to perform rehabilitation exercises with any, non sensorized, graspable objects. This paper presents the system design, development, and experimental evaluation. Experiments were performed within a group of six healthy subjects and two chronic stroke patients, executing robotic-assisted grasping tasks. Results related to performance in estimation and modulation of the robotic assistance, and to the outcomes of the pilot rehabilitation sessions with stroke patients, positively support validity of the proposed approach for application in stroke rehabilitation.

Evolutionary aspects of self- and world consciousness in vertebrates.

Although most aspects of world and self-consciousness are inherently subjective, neuroscience studies in humans and non-human animals provide correlational and causative indices of specific links between brain activity and representation of the self and the world. In this article we review neuroanatomic, neurophysiological and neuropsychological data supporting the hypothesis that different levels of self and world representation in vertebrates rely upon (i) a "basal" subcortical system that includes brainstem, hypothalamus and central thalamic nuclei and that may underpin the primary (or anoetic) consciousness likely present in all vertebrates; and (ii) a forebrain system that include the medial and lateral structures of the cerebral hemispheres and may sustain the most sophisticated forms of consciousness [e.g., noetic (knowledge based) and autonoetic, reflective knowledge]. We posit a mutual, bidirectional functional influence between these two major brain circuits. We conclude that basic aspects of consciousness like primary self and core self (based on anoetic and noetic consciousness) are present in many species of vertebrates and that, even self-consciousness (autonoetic consciousness) does not seem to be a prerogative of humans and of some non-human primates but may, to a certain extent, be present in some other mammals and birds.