Electronic systems for the restoration of the sense of touch in upper limb prosthetics

In the last few years, research on active prosthetics for upper limbs focused on improving the human functionalities and the control. New methods have been proposed for measuring the user muscle activity and translating it into the prosthesis control commands. Developing the feed-forward interface so that the prosthesis better follows the intention of the user is an important step towards improving the quality of life of people with limb amputation. However, prosthesis users can neither feel if something or someone is touching them over the prosthesis and nor perceive the temperature or roughness of objects. Prosthesis users are helped by looking at an object, but they cannot detect anything otherwise. Their sight gives them most information. Therefore, to foster the prosthesis embodiment and utility, it is necessary to have a prosthetic system that not only responds to the control signals provided by the user, but also transmits back to the user the information about the current state of the prosthesis. This thesis presents an electronic skin system to close the loop in prostheses towards the restoration of the sense of touch in prosthesis users. The proposed electronic skin system inlcudes an advanced distributed sensing (electronic skin), a system for (i) signal conditioning, (ii) data acquisition, and (iii) data processing, and a stimulation system. The idea is to integrate all these components into a myoelectric prosthesis. Embedding the electronic system and the sensing materials is a critical issue on the way of development of new prostheses. In particular, processing the data, originated from the electronic skin, into low- or high-level information is the key issue to be addressed by the embedded electronic system. Recently, it has been proved that the Machine Learning is a promising approach in processing tactile sensors information. Many studies have been shown the Machine Learning eectiveness in the classication of input touch modalities.More specically, this thesis is focused on the stimulation system, allowing the communication of a mechanical interaction from the electronic skin to prosthesis users, and the dedicated implementation of algorithms for processing tactile data originating from the electronic skin. On system level, the thesis provides design of the experimental setup, experimental protocol, and of algorithms to process tactile data. On architectural level, the thesis proposes a design ow for the implementation of digital circuits for both FPGA and integrated circuits, and techniques for the power management of embedded systems for Machine Learning algorithms

Touching on elements for a non-invasive sensory feedback system for use in a prosthetic hand

Hand amputation results in the loss of motor and sensory functions, impacting activities of daily life and quality of life. Commercially available prosthetic hands restore the motor function but lack sensory feedback, which is crucial to receive information about the prosthesis state in real-time when interacting with the external environment. As a supplement to the missing sensory feedback, the amputee needs to rely on visual and audio cues to operate the prosthetic hand, which can be mentally demanding. This thesis revolves around finding potential solutions to contribute to an intuitive non-invasive sensory feedback system that could be cognitively less burdensome and enhance the sense of embodiment (the feeling that an artificial limb belongs to one’s own body), increasing acceptance of wearing a prosthesis.A sensory feedback system contains sensors to detect signals applied to the prosthetics. The signals are encoded via signal processing to resemble the detected sensation delivered by actuators on the skin. There is a challenge in implementing commercial sensors in a prosthetic finger. Due to the prosthetic finger’s curvature and the fact that some prosthetic hands use a covering rubber glove, the sensor response would be inaccurate. This thesis shows that a pneumatic touch sensor integrated into a rubber glove eliminates these errors. This sensor provides a consistent reading independent of the incident angle of stimulus, has a sensitivity of 0.82 kPa/N, a hysteresis error of 2.39±0.17%, and a linearity error of 2.95±0.40%.For intuitive tactile stimulation, it has been suggested that the feedback stimulus should be modality-matched with the intention to provide a sensation that can be easily associated with the real touch on the prosthetic hand, e.g., pressure on the prosthetic finger should provide pressure on the residual limb. A stimulus should also be spatially matched (e.g., position, size, and shape). Electrotactile stimulation has the ability to provide various sensations due to it having several adjustable parameters. Therefore, this type of stimulus is a good candidate for discrimination of textures. A microphone can detect texture-elicited vibrations to be processed, and by varying, e.g., the median frequency of the electrical stimulation, the signal can be presented on the skin. Participants in a study using electrotactile feedback showed a median accuracy of 85% in differentiating between four textures.During active exploration, electrotactile and vibrotactile feedback provide spatially matched modality stimulations, providing continuous feedback and providing a displaced sensation or a sensation dispatched on a larger area. Evaluating commonly used stimulation modalities using the Rubber Hand Illusion, modalities which resemble the intended sensation provide a more vivid illusion of ownership for the rubber hand.For a potentially more intuitive sensory feedback, the stimulation can be somatotopically matched, where the stimulus is experienced as being applied on a site corresponding to their missing hand. This is possible for amputees who experience referred sensation on their residual stump. However, not all amputees experience referred sensations. Nonetheless, after a structured training period, it is possible to learn to associate touch with specific fingers, and the effect persisted after two weeks. This effect was evaluated on participants with intact limbs, so it remains to evaluate this effect for amputees.In conclusion, this thesis proposes suggestions on sensory feedback systems that could be helpful in future prosthetic hands to (1) reduce their complexity and (2) enhance the sense of body ownership to enhance the overall sense of embodiment as an addition to an intuitive control system

Enhancing Upper Limb Prostheses Through Neuromorphic Sensory Feedback

Upper limb prostheses are rapidly improving in terms of both control and sensory feedback, giving rise to lifelike robotic devices that aim to restore function to amputees. Recent progress in forward control has enabled prosthesis users to make complicated grip patterns with a prosthetic hand and nerve stimulation has enabled sensations of touch in the missing hand of an amputee. A brief overview of the motivation behind the work in this thesis is given in Chapter 1, which is followed by a general overview of the field and state of the art research (Chapter 2). Chapters 3 and 4 look at the use of closed loop tactile feedback for improving prosthesis grasping functionality. This entails development of two algorithms for improving object manipulation (Chapter 3) and the first real-time implementation of neuromorphic tactile signals being used as feedback to a prosthesis controller for improved grasping (Chapter 4). The second half of the thesis (Chatpers 5 - 7) details how sensory information can be conveyed back to an amputee and how the tactile sensations can be utilized for creating a more lifelike prosthesis. Noninvasive electrical nerve stimulation was shown to provide sensations in multiple regions of the phantom hand of amputees both with and without targeted sensory reinnervation surgery (Chapter 5). A multilayered electronic dermis (e-dermis) was developed to mimic the behavior of receptors in the skin to provide, for the first time, sensations of both touch and pain back to an amputee and the prosthesis (Chapter 6). Finally, the first demonstration of sensory feedback as a key component of phantom hand movement for myoelectric pattern recognition shows that enhanced perceptions of the phantom hand can lead to improved prosthesis control (Chapter 7). This work provides the first demonstration of how amputees can perceive multiple tactile sensations through a neuromorphic stimulation paradigm. Furthermore, it describes the unique role that nerve stimulation and phantom hand activation play in the sensorimotor loop of upper limb amputees

Nanochips and medical applications

Ο όρος «νανοτσιπ» αναφέρεται σε ένα ολοκληρωμένο κύκλωμα (τσιπ) με νανοϋλικά και δομές στη νανοκλίμακα (1-100nm). Ένα ολοκληρωμένο κύκλωμα είναι μια συλλογή ηλεκτρονικών εξαρτημάτων, όπως τρανζίστορ, δίοδοι, πυκνωτές και αντιστάσεις. Τα σημερινά τρανζίστορ είναι στη νανοκλίμακα, αλλά μπορούν να τροποποιηθούν με νανοδομές για την κατασκευή βιοαισθητήρων που μπορούν να πραγματοποιούν ανίχνευση βιομορίων, όπως ιόντα, μόρια DNA, αντισώματα και αντιγόνα με μεγάλη ευαισθησία. Υλικά και Μέθοδοι: Πραγματοποιήθηκε συστηματική αναζήτηση βιβλιογραφίας με χρήση των ηλεκτρονικών βάσεων δεδομένων PubMed, Google Scholar και Scopus για την ανάπτυξη και χρήση νανοτσίπ σε ιατρικές εφαρμογές. Για τον προσδιορισμό των σχετικών εργασιών, τα κριτήρια συμπερίληψης αναφέρονται σε άρθρα στην αγγλική γλώσσα, άρθρα βιβλιογραφικού περιεχομένου ή/και έρευνών. Τα κριτήρια αποκλεισμού ήταν άρθρα εφημερίδων, περιλήψεις συνεδρίων και επιστολές. Αποτελέσματα: Τεχνικές in-vivo και in-vitro έχουν χρησιμοποιηθεί για την ανίχνευση μορίων DNA, ιόντων, αντισωμάτων, σημαντικών πρωτεϊνών και καρκινικών δεικτών, όχι μόνο από δείγματα αίματος αλλά και από ιδρώτα, σάλιο και άλλα βιολογικά υγρά. Διαγνωστική εφαρμογή των νανοτσίπ αποτελεί και η ανίχνευση πτητικών οργανικών ενώσεων μέσω τεστ εκπνεόμενης αναπνοής. Υπάρχουν και αρκετές θεραπευτικές εφαρμογές αυτών των συσκευών ημιαγωγών όπως τσιπ διασύνδεσης εγκεφάλου-υπολογιστή για παραλυτικές ή επιληπτικές καταστάσεις, κατασκευή «βιονικών» οργάνων όπως τεχνητός αμφιβληστροειδής, τεχνητό δέρμα και ρομποτικά προθετικά άκρα για ακρωτηριασμένους ή ρομποτική χειρουργική. Συμπέρασμα: Η χρήση των νανοτσίπ στην ιατρική είναι ένας αναδυόμενος τομέας με αρκετές θεραπευτικές εφαρμογές όπως η διάγνωση, η παρακολούθηση της υγείας και της φυσικής κατάστασης και η κατασκευή «βιονικών» οργάνων.Background: The term “nanochip” pertains to an integrated circuit (chip) with nanomaterials and components in the nano-dimension (1-100nm). An integrated circuit is essentially a collection of electronic components, like transistors, diodes, capacitors, and resistors. Current transistors are in the nanoscale but can also be modified with nanostructures like nanoribbons and nanowires to manufacture biosensors that can perform label-free, ultrasensitive detection of biomolecules like ions, DNA molecules, antibodies and antigens. Materials and Methods: A systematic literature search was conducted using the electronic databases PubMed, Google Scholar and Scopus for the development and use of nanochips in medical applications. For the identification of relevant papers, the inclusion criteria referred to articles in the English language, review and/or research articles. The exclusion criteria were newspaper articles, conference abstracts and letters. Results: In-vivo and In-vitro techniques have been used for detection of DNA molecules, ions, antibodies, important proteins, and tumor markers, not only from blood samples but also from sweat, saliva and other biological fluids. Another diagnostic application of nanochips is detection of volatile organic compounds via a breath test. There are also several therapeutic applications of these semiconductor devices like brain-computer interface chips for paralytic or epileptic conditions, manufacture of “bionic” organs like artificial retinas, artificial skin and robotic prostheses for amputees or robotic surgery. Conclusion: The use of nanochips in medicine is an emerging field with several therapeutic applications like diagnostics, health and fitness monitoring, and manufacture of “bionic” organs

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, held in Hamburg, Germany, in May 2022. The 36 regular papers included in this book were carefully reviewed and selected from 129 submissions. They were organized in topical sections as follows: haptic science; haptic technology; and haptic applications

MATHEMATICAL AND EXPERIMENTAL MODELS FOR STUDYING SOMATOSENSORY FEEDBACK VIA PRIMARY AFFERENT MICROSTIMULATION

A significant problem with current prostheses is the challenge of controlling the device without being able to ‘feel’ it. Without somatosensory feedback, cognitively demanding visual and attentional processes must be relied upon. However, restoring somatosensory feedback offers the possibility of changing a prosthetic from an extracorporeal tool into a part of the user’s body, while enabling a far more natural control scheme. Although artificial somatosensory feedback of prostheses has been attempted since the 1960s, clinical implementations are lacking. This thesis will focus on the use of electrical stimulation to artificially activate the nervous system to restore feedback. With recent advances in electrode design, the possibility of implanting hundreds of electrodes into the nervous system is becoming a reality. However, current stimulation protocols are oriented towards using only a few electrodes. It is likely that new stimulation paradigms will be needed in order to fully take advantage of multichannel microelectrode arrays. This dissertation examines new methods for studying somatosensory feedback. Dorsal root ganglia microstimulation with concurrent nerve-cuff recordings is used to evaluate stimulation thresholds and the types of neurons first recruited. Computational models are developed to explore recruitment beyond threshold as well as the impact of simultaneous stimulation on changing neural recruitment. Finally, an experimental model is developed that uses the cortical response to primary afferent stimulation to assess information transfer to the brain. Together, these models offer new approaches for improving somatosensory feedback stimulation paradigms

Neural networks-on-chip for hybrid bio-electronic systems

PhD ThesisBy modelling the brains computation we can further our understanding of its function and develop novel treatments for neurological disorders. The brain is incredibly powerful and energy e cient, but its computation does not t well with the traditional computer architecture developed over the previous 70 years. Therefore, there is growing research focus in developing alternative computing technologies to enhance our neural modelling capability, with the expectation that the technology in itself will also bene t from increased awareness of neural computational paradigms. This thesis focuses upon developing a methodology to study the design of neural computing systems, with an emphasis on studying systems suitable for biomedical experiments. The methodology allows for the design to be optimized according to the application. For example, di erent case studies highlight how to reduce energy consumption, reduce silicon area, or to increase network throughput. High performance processing cores are presented for both Hodgkin-Huxley and Izhikevich neurons incorporating novel design features. Further, a complete energy/area model for a neural-network-on-chip is derived, which is used in two exemplar case-studies: a cortical neural circuit to benchmark typical system performance, illustrating how a 65,000 neuron network could be processed in real-time within a 100mW power budget; and a scalable highperformance processing platform for a cerebellar neural prosthesis. From these case-studies, the contribution of network granularity towards optimal neural-network-on-chip performance is explored

Proceedings of the 6th international conference on disability, virtual reality and associated technologies (ICDVRAT 2006)

The proceedings of the conferenc

Stage(d) hands in early modern drama and culture

This thesis offers the first full phenomenological study of the staging of hands in early modern drama and culture by analysis of selected canonical and non-canonical plays (1550-1650) in dialogue with significant non-dramatic intertexts. Reading plays by Shakespeare, Webster, Middleton, Rowley, Tomkis, Marlowe, Heywood, Brome, Jonson and Dekker, I argue the hand constructs subjectivity, materially and psychologically, in the natural, built and social landscapes represented on stage and experienced in the early modern world. This argument is supported through broad-ranging interdisciplinary analysis shaped by first-hand experience following an injury to my right hand. The introduction situates the hand within anthropological, materialist and phenomenological critical approaches to argue its functions as an ‘extroceptive’ tool. I explore Merleau-Ponty’s notion of the body as a natural instrument of expression, which registers and defines the individual’s spatial being-in-the-world. I position the hand as a self-defining agent as understood by: Nancy’s work on thinking the body ‘anew’; Derrida’s analysis of the hand as ‘maker’; the history of technicity and exteriorisation in the works of Stiegler and Leroi-Gourhan alongside medical practices surrounding my own contemporary experience. Chapter One analyses the active hand, conventionally gendered masculine, as a symbol of human mind and spirit materialised with reference to ‘intentionality’. I argue the staged hand, a cognitive symbol that constitutes the body schema, is the most pivotal body part on the early modern stage, cultivating and developing the subject’s expressive and symbolic relationship with the world. Bulwer’s Chirologia and Chironomia (1644) informs this chapter to demonstrate tactual perception to be the centre of early modern corporeality and hapticity to be indispensable to sensory experience. Chapter Two considers the feminine hand as an object staged by boys and passed between men alongside Merleau-Ponty’s notion of intercorporeity, to suggest that the feminine hand is situated within a paradox. Both passive and objectified, it is a powerful source of autonomy, command and agency, as embodied by Elizabeth I. I argue that the potential for agency turns the active helping hand into an instrument of disorder and empowerment which creates a space for independent desires and actions. Chapter Three considers the body without the hand and the hand without the body using Merleau-Ponty’s understanding of the body schema with respect to phantom limb syndrome and anosognosia alongside my own experience at Wessex Rehabilitation Centre. I argue the phantom limb phenomenon is a recurrent transhistorical feature in early modern drama and culture and represents cultural anxieties of fragmentation, loss and disruption

Restoring Upper Extremity Mobility through Functional Neuromuscular Stimulation using Macro Sieve Electrodes

The last decade has seen the advent of brain computer interfaces able to extract precise motor intentions from cortical activity of human subjects. It is possible to convert captured motor intentions into movement through coordinated, artificially induced, neuromuscular stimulation using peripheral nerve interfaces. Our lab has developed and tested a new type of peripheral nerve electrode called the Macro-Sieve electrode which exhibits excellent chronic stability and recruitment selectivity. Work presented in this thesis uses computational modeling to study the interaction between Macro-Sieve electrodes and regenerated peripheral nerves. It provides a detailed understanding of how regenerated fibers, both on an individual level and on a population level respond differently to functional electrical stimulation compared to non-disrupted axons. Despite significant efforts devoted to developing novel regenerative peripheral interfaces, the degree of spatial clustering between functionally related fibers in regenerated nerves is poorly understood. In this thesis, bioelectrical modeling is also used to predict the degree of topographical organization in regenerated nerve trunks. In addition, theoretical limits of the recruitment selectivity of the device is explored and a set of optimal stimulation paradigms used to selectively activate fibers in different regions of the nerve are determined. Finally, the bioelectrical model of the interface/nerve is integrated with a biomechanical model of the macaque upper limb to study the feasibility of using macro-sieve electrodes to achieve upper limb mobilization