Multimodal fusion of EMG and vision for human grasp intent inference in prosthetic hand control.

Objective: For transradial amputees, robotic prosthetic hands promise to regain the capability to perform daily living activities. Current control methods based on physiological signals such as electromyography (EMG) are prone to yielding poor inference outcomes due to motion artifacts, muscle fatigue, and many more. Vision sensors are a major source of information about the environment state and can play a vital role in inferring feasible and intended gestures. However, visual evidence is also susceptible to its own artifacts, most often due to object occlusion, lighting changes, etc. Multimodal evidence fusion using physiological and vision sensor measurements is a natural approach due to the complementary strengths of these modalities. Methods: In this paper, we present a Bayesian evidence fusion framework for grasp intent inference using eye-view video, eye-gaze, and EMG from the forearm processed by neural network models. We analyze individual and fused performance as a function of time as the hand approaches the object to grasp it. For this purpose, we have also developed novel data processing and augmentation techniques to train neural network components. Results: Our results indicate that, on average, fusion improves the instantaneous upcoming grasp type classification accuracy while in the reaching phase by 13.66% and 14.8%, relative to EMG (81.64% non-fused) and visual evidence (80.5% non-fused) individually, resulting in an overall fusion accuracy of 95.3%. Conclusion: Our experimental data analyses demonstrate that EMG and visual evidence show complementary strengths, and as a consequence, fusion of multimodal evidence can outperform each individual evidence modality at any given time.

The Impact of Fatigue on the Sense of Local and Global Rhythmic Movement.

Efficient movement control and the mechanisms responsible for the sense of rhythm are still not fully understood. The purpose of this paper was to estimate the influence of fatigue on the sense of rhythm defined as specific order of movements and their rhythmic perception. It was examined in a holistic way, by analyzing both global and local aspects of the movement. Twenty adult participants (20.2 ± 0.4 years, ten females) took part in the experiment. The fatigue protocol was applied in four blocks, which consisted of 30-s consecutive jumping with 80% of maximal effort. Immediately after each fatigue block, the rhythm performance was evaluated in global and local tests. The global test was based on 45 continuous jumps and was divided into an assisted and an unassisted phase using the Optojump Next System. The local test was performed by bilateral tapping of lower limbs by means of the Vienna Test System. The hypothesis about the significant effect of fatigue on the sense of rhythm was falsified. In particular, we observed the lack of differences between global and local aspects of the movement. Moreover, female participants showed a better sense of rhythm than males. Regardless of the fatigue protocol, participants made larger errors with a lower movement frequency in local rhythmic tasks. The coefficient of variation showed that sex differences were only significant in the unassisted phase of the global rhythmic task. We suggest that movement variability metrics may provide additional information about the sense of rhythm, which should be explored more in future studies, not only dependent on fatigue.

Investigating and acquiring motor expertise using virtual reality.

After just months of simulated training, on January 19, 2019 a 23-year-old E-sports pro-gamer, Enzo Bonito, took to the racetrack and beat Lucas di Grassi, a Formula E and ex-Formula 1 driver with decades of real-world racing experience. This event raised the possibility that practicing in virtual reality can be surprisingly effective for acquiring motor expertise in real-world tasks. Here, we evaluate the potential of virtual reality to serve as a space for training to expert levels in highly complex real-world tasks in time windows much shorter than those required in the real world and at much lower financial cost without the hazards of the real world. We also discuss how VR can also serve as an experimental platform for exploring the science of expertise more generally.

A case of necrotizing enterocolitis in full-term infant on his first day of life-Early presentation with multifactorial etiology.

We aimed to show the complexity of NEC in the full-term newborns. Additionally, we wanted to underline the importance of breastfeeding from the first day of life and show how deteriorating effect the antibiotics can have on gastrointestinal tract.

The Genetic Background of Hearing Loss in Patients with EVA and Cochlear Malformation.

The most frequently observed congenital inner ear malformation is enlarged vestibular aqueduct (EVA). It is often accompanied with incomplete partition type 2 (IP2) of the cochlea and a dilated vestibule, which together constitute Mondini malformation. Pathogenic SLC26A4 variants are considered the major cause of inner ear malformation but the genetics still needs clarification. The aim of this study was to identify the cause of EVA in patients with hearing loss (HL). Genomic DNA was isolated from HL patients with radiologically confirmed bilateral EVA (n = 23) and analyzed by next generation sequencing using a custom HL gene panel encompassing 237 HL-related genes or a clinical exome. The presence and segregation of selected variants and the CEVA haplotype (in the 5' region of SLC26A4) was verified by Sanger sequencing. Minigene assay was used to evaluate the impact of novel synonymous variant on splicing. Genetic testing identified the cause of EVA in 17/23 individuals (74%). Two pathogenic variants in the SLC26A4 gene were identified as the cause of EVA in 8 of them (35%), and a CEVA haplotype was regarded as the cause of EVA in 6 of 7 patients (86%) who carried only one SLC26A4 genetic variant. In two individuals with a phenotype matching branchio-oto-renal (BOR) spectrum disorder, cochlear hypoplasia resulted from EYA1 pathogenic variants. In one patient, a novel variant in CHD7 was detected. Our study shows that SLC26A4, together with the CEVA haplotype, accounts for more than half of EVA cases. Syndromic forms of HL should also be considered in patients with EVA. We conclude that to better understand inner ear development and the pathogenesis of its malformations, there is a need to look for pathogenic variants in noncoding regions of known HL genes or to link them with novel candidate HL genes.

Skin manifestations of neuroendocrine neoplasms: review of the literature.

Neuroendocrine neoplasms (NENs) are a heterogeneous group of rare tumours derived from peptidergic neurons and specialized neuroendocrine cells capable of secreting various peptides or amines. These cells may be present in endocrine tissue or diffused in the tissues of the digestive or respiratory system. The article reviews the characteristic features of NENs, with particular emphasis on skin manifestations, such as necrolytic migratory erythema (NME), tongue inflammation, angular cheilitis, venous thrombosis and alopecia in glucagonoma; "flushing", "lion face", pellagra skin symptoms, "scleroderma-like features without Raynaud's phenomenon" in carcinoid tumours. The paper also presents the clinical picture of the neuroendocrine tumour of the skin - Merkel cell carcinoma. The aim of this study was to draw attention to the need for precise and comprehensive diagnosis of the patients, with particular emphasis on skin lesions as a revelator of neuroendocrine tumours. This management allows for the early implementation of appropriate treatment.

Hearing Loss as the Main Clinical Presentation in NLRP3-Associated Autoinflammatory Disease.

The NLRP3 gene mutations are the cause of autosomal dominant autoinflammatory disorders (NLRP3-AID). Recently, hearing loss (HL) has been found to be the sole or major manifestation of NLRP3-AID. Here, we tested 110 autosomal dominant HL families with a custom panel of 237 HL genes and found one family carrying the NLRP3 c.1872C>G, p.Ser624Arg mutation. Functional studies revealed that this novel variant is a gain of function mutation, leading to increased activity of caspase-1 and subsequent oversecretion of proinflammatory interleukin-1ß. Clinical reanalysis of the affected individuals, together with serological evidence of inflammation and pathological cochlear enhancement on FLAIR-MRI images, guided our diagnosis to atypical NLRP3-AID. The study highlights the role of genetic analysis in patients with progressive postlingual HL. This can help to identify individuals with hereditary HL as a consequence of NLRP3-AID and allow timely and effective treatment with interleukin-1-receptor antagonist.

In Vivo Basilar Membrane Time Delays in Humans.

To date, objective measurements and psychophysical experiments have been used to measure frequency dependent basilar membrane (BM) delays in humans; however, in vivo measurements have not been made. This study aimed to measure BM delays by performing intracochlear electrocochleography in cochlear implant recipients. Sixteen subjects with various degrees of hearing abilities were selected. Postoperative Computer Tomography was performed to determine electrode locations. Electrical potentials in response to acoustic tone pips at 0.25, 0.5, 1, 2, and 4 kHz and clicks were recorded with electrodes at the frequency specific region. The electrode array was inserted up to the characteristic cochlear frequency region of 250 Hz for 6 subjects. Furthermore, the array was inserted in the region of 500 Hz for 15 subjects, and 1, 2, and 4 kHz were reached in all subjects. Intracochlear electrocochleography for each frequency-specific tone pip and clicks showed detectable responses in all subjects. The latencies differed among the cochlear location and the cochlear microphonic (CM) onset latency increased with decreasing frequency and were consistent with click derived band technique. Accordingly, BM delays in humans could be derived. The BM delays increased systematically along the cochlea from basal to apical end and were in accordance with Ruggero and Temchin, 2007.

A kinematic and EMG dataset of online adjustment of reach-to-grasp movements to visual perturbations.

Control of reach-to-grasp movements for deft and robust interactions with objects requires rapid sensorimotor updating that enables online adjustments to changing external goals (e.g., perturbations or instability of objects we interact with). Rarely do we appreciate the remarkable coordination in reach-to-grasp, until control becomes impaired by neurological injuries such as stroke, neurodegenerative diseases, or even aging. Modeling online control of human reach-to-grasp movements is a challenging problem but fundamental to several domains, including behavioral and computational neuroscience, neurorehabilitation, neural prostheses, and robotics. Currently, there are no publicly available datasets that include online adjustment of reach-to-grasp movements to object perturbations. This work aims to advance modeling efforts of reach-to-grasp movements by making publicly available a large kinematic and EMG dataset of online adjustment of reach-to-grasp movements to instantaneous perturbations of object size and distance performed in immersive haptic-free virtual environment (hf-VE). The presented dataset is composed of a large number of perturbation types (10 for both object size and distance) applied at three different latencies after the start of the movement.

De Novo ACTG1 Variant Expands the Phenotype and Genotype of Partial Deafness and Baraitser-Winter Syndrome.

Actin molecules are fundamental for embryonic structural and functional differentiation; γ-actin is specifically required for the maintenance and function of cytoskeletal structures in the ear, resulting in hearing. Baraitser-Winter Syndrome (B-WS, OMIM #243310, #614583) is a rare, multiple-anomaly genetic disorder caused by mutations in either cytoplasmically expressed actin gene, ACTB (ß-actin) or ACTG1 (γ-actin). The resulting actinopathies cause characteristic cerebrofrontofacial and developmental traits, including progressive sensorineural deafness. Both ACTG1-related non-syndromic A20/A26 deafness and B-WS diagnoses are characterized by hypervariable penetrance in phenotype. Here, we identify a 28th patient worldwide carrying a mutated γ-actin ACTG1 allele, with mildly manifested cerebrofrontofacial B-WS traits, hypervariable penetrance of developmental traits and sensorineural hearing loss. This patient also displays brachycephaly and a complete absence of speech faculty, previously unreported for ACTG1-related B-WS or DFNA20/26 deafness, representing phenotypic expansion. The patient's exome sequence analyses (ES) confirms a de novo ACTG1 variant previously unlinked to the pathology. Additional microarray analysis uncover no further mutational basis for dual molecular diagnosis in our patient. We conclude that γ-actin c.542C > T, p.Ala181Val is a dominant pathogenic variant, associated with mildly manifested facial and cerebral traits typical of B-WS, hypervariable penetrance of developmental traits and sensorineural deafness. We further posit and present argument and evidence suggesting ACTG1-related non-syndromic DFNA20/A26 deafness is a manifestation of undiagnosed ACTG1-related B-WS.

Classifications of Dynamic EMG in Hand Gesture and Unsupervised Grasp Motion Segmentation.

The electromyography (EMG) signals have been widely utilized in human-robot interaction for extracting user hand/arm motion instructions. A major challenge of the online interaction with robots is the reliable EMG recognition from real-time data. However, previous studies mainly focused on using steady-state EMG signals with a small number of grasp patterns to implement classification algorithms, which is insufficient to generate robust control regarding the dynamic muscular activity variation in practice. Introducing more EMG variability during training and validation could implement a better dynamic-motion detection, but only limited research focused on such grasp-movement identification, and all of those assessments on the non-static EMG classification require supervised ground-truth label of the movement status. In this study, we propose a framework for classifying EMG signals generated from continuous grasp movements with variations on dynamic arm/hand postures, using an unsupervised motion status segmentation method. We collected data from large gesture vocabularies with multiple dynamic motion phases to encode the transitions from one intent to another based on common sequences of the grasp movements. Two classifiers were constructed for identifying the motion-phase label and grasptype label, where the dynamic motion phases were segmented and labeled in an unsupervised manner. The proposed framework was evaluated in real-time with the accuracy variation over time presented, which was shown to be efficient due to the high degree of freedom of the EMG data.

Radiological Imaging of Gastro-Entero-Pancreatic Neuroendocrine Tumors. The Review of Current Literature Emphasizing the Diagnostic Value of Chosen Imaging Methods.

Despite development of radiologic imaging, detection and follow-up of neuroendocrine neoplasms (NENs) still pose a diagnostic challenge, due to the heterogeneity of NEN, their relatively long-term growth, and small size of primary tumor. A set of information obtained by using different radiological imaging tools simplifies a choice of the most appropriate treatment method. Moreover, radiological imaging plays an important role in the assessment of metastatic lesions, especially in the liver, as well as, tumor response to treatment. This article reviews the current, broadly in use imaging modalities which are applied to the diagnosis of GEP-NETs, (the most common type of NENs) and put emphasis on the strengths and limitations of each modality.

Control of aperture closure during reach-to-grasp movements in immersive haptic-free virtual reality.

Virtual reality (VR) has garnered much interest as a training environment for motor skill acquisition, including for neurological rehabilitation of upper extremities. While the focus has been on gross upper limb motion, VR applications that involve reaching for, and interacting with, virtual objects are growing. The absence of true haptics in VR when it comes to hand-object interactions raises a fundamentally important question: can haptic-free immersive virtual environments (hf-VEs) support naturalistic coordination of reach-to-grasp movements? This issue has been grossly understudied, and yet is of significant importance in the development and application of VR across a number of sectors. In a previous study (Furmanek et al., J Neuroeng Rehabil 16:78, 2019), we reported that reach-to-grasp movements are similarly coordinated in both the physical environment (PE) and hf-VE. The most noteworthy difference was that the closure phase-which begins at maximum aperture and lasts through the end of the movement-was longer in hf-VE than in PE, suggesting that different control laws might govern the initiation of closure between the two environments. To do so, we reanalyzed data from Furmanek et al. (J Neuroeng Rehabil 16:78, 2019), in which the participants reached to grasp three differently sized physical objects, and matching 3D virtual object renderings, placed at three different locations. Our analysis revealed two key findings pertaining to the initiation of closure in PE and hf-VE. First, the respective control laws governing the initiation of aperture closure in PE and hf-VE both included state estimates of transport velocity and acceleration, supporting a general unified control policy for implementing reach-to-grasp across physical and virtual environments. Second, the aperture was less informative to the control law in hf-VE. We suggest that the latter was likely because transport velocity at closure onset and aperture at closure onset were less independent in hf-VE than in PE, ultimately resulting in an aperture at closure onset having a weaker influence on the initiation of closure. In this way, the excess time and muscular effort needed to actively bring the fingers to a stop at the interface of a virtual object was factored into the control law governing the initiation of closure in hf-VE. Critically, this control law remained applicable, albeit with different weights in hf-VE, despite the absence of terminal haptic feedback and potential perceptual differences.

Synergistic Activation Patterns of Hand Muscles in Left-and Right-Hand Dominant Individuals.

Handedness has been associated with behavioral asymmetries between limbs that suggest specialized function of dominant and non-dominant hand. Whether patterns of muscle co-activation, representing muscle synergies, also differ between the limbs remains an open question. Previous investigations of proximal upper limb muscle synergies have reported little evidence of limb asymmetry; however, whether the same is true of the distal upper limb and hand remains unknown. This study compared forearm and hand muscle synergies between the dominant and non-dominant limb of left-handed and right-handed participants. Participants formed their hands into the postures of the American Sign Language (ASL) alphabet, while EMG was recorded from hand and forearm muscles. Muscle synergies were extracted for each limb individually by applying non-negative-matrix-factorization (NMF). Extracted synergies were compared between limbs for each individual, and between individuals to assess within and across participant differences. Results indicate no difference between the limbs for individuals, but differences in limb synergies at the population level. Left limb synergies were found to be more similar than right limb synergies across left- and right-handed individuals. Synergies of the left hand of left dominant individuals were found to have greater population level similarity than the other limbs tested. Results are interpreted with respect to known differences in the neuroanatomy and neurophysiology of proximal and distal upper limb motor control. Implications for skill training in sports requiring dexterous control of the hand are discussed.

Number of Trials Necessary to Apply Analysis Within the Framework of the Uncontrolled Manifold Hypothesis at Different Levels of Hierarchical Synergy Control.

The uncontrolled manifold hypothesis is a method used to quantify motor synergies, defined as a specific central nervous system organization that maintains the task-specific stability of motor actions. The UCM allows for inter-trial variance analysis between consecutive trials. However, despite the large body of literature within this framework, there is no report on the number of movement repetitions required for reliable results. Based on the hypothetical hierarchical control of motor synergies, this study aims to determine the minimum number of trials necessary to achieve a good to excellent level of reliability. Thirteen young, healthy participants performed fifteen bilateral isometric contractions of elbow flexion when visual feedback was provided. The force and electromyography data were recorded to investigate synergies at different levels of hierarchical control. The intraclass correlation coefficient was used to determine the reliability of the variance indices. Based on the obtained results, at least twelve trials are required to analyze the inter-trial variance in both force and muscle synergies within the UCM framework.

Postural constraints recruit shorter-timescale processes into the non-Gaussian cascade processes.

Healthy human postural sway exhibits strong intermittency, reflecting a richly interactive foundation of postural control. From a linear perspective, intermittent fluctuations might be interpreted as engagement and disengagement of complementary control processes at distinct timescales or from a nonlinear perspective, as cascade-like interactions across many timescales at once. The diverse control processes entailed by cascade-like multiplicative dynamics suggest specific non-Gaussian distributional properties at different timescales. Multiscale probability density function (PDF) analysis showed that when standing quietly while balancing a sand-filled tube with the two arms elicited non-Gaussianity profiles showing a negative-quadratic crossover between short and long timescales. A more stringent task of balancing a water-filled tube elicited simpler monotonic decreases in non-Gaussianity, that is, a positive-quadratic cancellation of the negative-quadratic crossover. Multiple known indices of postural sway governed the appearance or disappearance of the crossover. Finally, both tasks elicited lognormal distributions over progressively larger timescales. These results provide the first evidence that more stringent postural constraints recruit shorter-timescale processes into the non-Gaussian cascade processes, that indices of postural sway moderate this recruitment, and that more stringent postural constraints show stronger statistical hallmarks of cascade structure.

Reliability and Validity of the Trunk Control Measurement Scale Among Children and Adolescents With Cerebral Palsy in Tanzania.

The aim of this study was to investigate the reliability and validity of the Trunk Control Measurement Scale (TCMS) among children with cerebral palsy (CP) who were living in Tanzania. Two physiotherapy trainees, each blinded to the other's test findings, independently administered the TCMS to 38 children with CP (16 female; M age = 7.2, SD = 4.8 years) twice over sessions separated by a 30-day interval. We assessed internal consistency and intra/inter-rater reliability using Cronbach's alpha and the Intraclass Correlation Coefficient (ICC), respectively. We examined measurement error through Standard Error of Measurement (SEM) and Minimal Detectable Change (MDC). We assessed construct validity with Spearman's correlation coefficient between the TCMS and both the Gross Motor Function Classification System (GMFCS) and the Manual Ability Classification System (MACS). We found a frank floor effect. Internal consistency (α = 0.945) and reliability indices were excellent for the total scale (ICC for intra-rater reliability = 0.985, inter- reliability = 0.997) and for each sub-scale score. We found low values of SEM (1.7 points) and MDC (4.8 points). Construct validity was supported by moderate and strong correlations between the TCMS and the GMFCS and MACS in this sample. We conclude that the psychometric properties of the TMCS support its clinical and research use for youth with CP in low-income settings.

Complex Phenotypic Presentation of Syndromic Hearing Loss Deciphered as Three Separate Clinical Entities: How Genetic Testing Guides Final Diagnosis.

BACKGROUND: Genetically determined prelingual hearing loss (HL) may occur in an isolated or syndromic form. OBJECTIVE: The aim of the study was to unravel the genetic cause of medical problems in a 21-year-old woman, whose phenotypic presentation extended beyond Stickler syndrome and included enlarged vestibular aqueduct (EVA) and persistent microhematuria. METHODS AND RESULTS: After sequencing of clinical exome, a known de novo COL2A1 pathogenic variant (c.1833+1G>A, p.?) causative for Stickler syndrome and one paternally inherited pathogenic change in COL4A5 (c.1871G>A, p.Gly624Asp) causative for X-linked Alport syndrome were found. No pathogenic variants, including those within the SLC26A4 5' region (Caucasian EVA haplotype), explaining the development of EVA, were identified. CONCLUSIONS: The study reveals a multilocus genomic variation in one individual and provides a molecular diagnosis of two HL syndromes that co-occur in the proband independent of each other. For the third entity, EVA, no etiological factor was identified. Our data emphasize the relevance of detailed clinical phenotyping for accurate genotype interpretation. Focus on broadening the phenotypic spectrum of known genetic syndromes may actually obscure patients with multiple molecular diagnoses.

Movement Quality: A Novel Biomarker Based on Principles of Neuroscience.

A major problem in neurorehabilitation is the lack of objective outcomes to measure movement quality. Movement quality features, such as coordination and stability, are essential for everyday motor actions. These features allow reacting to continuously changing environment or to resist external perturbations. Neurological disorders affect movement quality, leading to functionally impaired movements. Recent findings suggest that the central nervous system organizes motor elements (eg, muscles, joints, fingers) into task-specific ensembles to stabilize motor tasks performance. A method to quantify this feature has been previously developed based on the uncontrolled manifold (UCM) hypothesis. UCM quantifies movement quality in a spatial-temporal domain using intertrial analysis of covariation between motor elements. In this point-of-view article, we first describe major obstacles (eg, the need for group analysis) that interfere with UCM application in clinical settings. Then, we propose a process of quantifying movement quality for a single individual with a novel use of bootstrapping simulations and UCM analysis. Finally, we reanalyze previously published data from individuals with neurological disorders performing a wide range of motor tasks, that is, multi-digit pressing and postural balance tasks. Our method allows one to assess motor quality impairments in a single individual and to detect clinically important motor behavior changes. Our solution may be incorporated into a clinical setting to assess sensorimotor impairments, evaluate the effects of specific neurological treatments, or track movement quality recovery over time. We also recommended the proposed solution to be used jointly with a typical statistical analysis of UCM parameters in cohort studies.