Assessing Cognitive Workload in Motor Decision-Making through Functional Connectivity Analysis: Towards Early Detection and Monitoring of Neurodegenerative Diseases.

Neurodegenerative diseases (NDs), such as Alzheimer's, Parkinson's, amyotrophic lateral sclerosis, and frontotemporal dementia, among others, are increasingly prevalent in the global population. The clinical diagnosis of these NDs is based on the detection and characterization of motor and non-motor symptoms. However, when these diagnoses are made, the subjects are often in advanced stages where neuromuscular alterations are frequently irreversible. In this context, we propose a methodology to evaluate the cognitive workload (CWL) of motor tasks involving decision-making processes. CWL is a concept widely used to address the balance between task demand and the subject's available resources to complete that task. In this study, multiple models for motor planning during a motor decision-making task were developed by recording EEG and EMG signals in n=17 healthy volunteers (9 males, 8 females, age 28.66±8.8 years). In the proposed test, volunteers have to make decisions about which hand should be moved based on the onset of a visual stimulus. We computed functional connectivity between the cortex and muscles, as well as among muscles using both corticomuscular and intermuscular coherence. Despite three models being generated, just one of them had strong performance. The results showed two types of motor decision-making processes depending on the hand to move. Moreover, the central processing of decision-making for the left hand movement can be accurately estimated using behavioral measures such as planning time combined with peripheral recordings like EMG signals. The models provided in this study could be considered as a methodological foundation to detect neuromuscular alterations in asymptomatic patients, as well as to monitor the process of a degenerative disease.

Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks.

In underwater environments, ensuring people's safety is complicated, with potentially life-threatening outcomes, especially when divers have to work in deeper conditions. To improve the available solutions for working with robots in this kind of environment, we propose the validation of a control strategy for robots when taking objects from the seabed. The control strategy proposed is based on acceleration feedback in the model of the system. Using this model, the reference values for position, velocity and acceleration are estimated, and then the position error signal can be computed. When the desired position is obtained, it is possible to then obtain the position error. The validation was carried out using three different objects: a ball, a bottle, and a plant. The experiment consisted of using this control strategy to take those objects, which the robot carried for a moment to validate the stabilisation control and reference following the control in terms of angle and depth. The robot was operated by a pilot from outside of the pool and was guided using a camera and sonar in a teleoperated way. As an advantage of this control strategy, the model upon which the robot is based is decoupled, allowing control of the robot for each uncoupled plane, this being the main finding of these tests. This demonstrates that the robot can be controlled by a control strategy based on a decoupled model, taking into account the hydrodynamic parameters of the robot.