Online natural myocontrol of combined hand and wrist actions using tactile myography and the biomechanics of grasping

Connan M, Kõiva R, Castellini C. Online natural myocontrol of combined hand and wrist actions using tactile myography and the biomechanics of grasping. Frontiers in Neurorobotics. 2020;14: 11.Objective: Despite numerous recent advances in the field of rehabilitation robotics, simultaneous and proportional control of hand and/or wrist prostheses is still unsolved. In this work we concentrate on myocontrol of combined actions, for instance power grasping while rotating the wrist, by only using training data gathered from single actions. This is highly desirable since gathering data for all possible combined actions would be unfeasibly long and demanding for the amputee. Approach: We first investigated physiologically feasible limits for muscle activation during combined actions. Using these limits we involved 12 intact participants and one amputee in a Target Achievement Control test, showing that tactile myography, i.e. high-density force myography, solves the problem of combined actions to a remarkable extent using simple linear regression. Since real-time usage of many sensors can be computationally demanding, we compare this approach with another one using a reduced feature set. These reduced features are obtained using a fast, spatial first-order approximation of the sensor values. Main results: By using the training data of single actions only, i.e. power grasp or wrist movements, subjects achieved an average success rate of 70.0% in the target achievement test using ridge regression. When combining wrist actions, e.g. pronating and flexing the wrist simultaneously, similar results were obtained with an average of 68.1%. If a power grasp is added to the pool of actions, combined actions are much more difficult to achieve (36.1%). Significance: To the best of our knowledge, for the first time, the effectiveness of tactile myography on single and combined actions is evaluated in a target achievement test. The present study includes 3 DoFs control instead of the two generally used in the literature. Additionally, we define a set of physiologically plausible muscle activation limits valid for most experiments of this kind

Assessment of a Wearable Force- and Electromyography Device and Comparison of the Related Signals for Myocontrol

In the frame of assistive robotics, multi-finger prosthetic hand/wrists have recently appeared,offering an increasing level of dexterity; however, in practice their control is limited to a few handgrips and still unreliable, with the effect that pattern recognition has not yet appeared in the clinicalenvironment. According to the scientific community, one of the keys to improve the situation ismulti-modal sensing, i.e., using diverse sensor modalities to interpret the subject’s intent andimprove the reliability and safety of the control system in daily life activities. In this work, wefirst describe and test a novel wireless, wearable force- and electromyography device; throughan experiment conducted on ten intact subjects, we then compare the obtained signals bothqualitatively and quantitatively, highlighting their advantages and disadvantages. Our resultsindicate that force-myography yields signals which are more stable across time during whenevera pattern is held, than those obtained by electromyography. We speculate that fusion of the twomodalities might be advantageous to improve the reliability of myocontrol in the near future

Unobtrusive, natural support control of an adaptive industrial exoskeleton using force myography

Repetitive or tiring tasks and movements during manual work can lead to serious musculoskeletal disorders and, consequently, to monetary damage for both the worker and the employer. Among the most common of these tasks is overhead working while operating a heavy tool, such as drilling, painting, and decorating. In such scenarios, it is desirable to provide adaptive support in order to take some of the load off the shoulder joint as needed. However, even to this day, hardly any viable approaches have been tested, which could enable the user to control such assistive devices naturally and in real time. Here, we present and assess the adaptive Paexo Shoulder exoskeleton, an unobtrusive device explicitly designed for this kind of industrial scenario, which can provide a variable amount of support to the shoulders and arms of a user engaged in overhead work. The adaptive Paexo Shoulder exoskeleton is controlled through machine learning applied to force myography. The controller is able to determine the lifted mass and provide the required support in real time. Twelve subjects joined a user study comparing the Paexo driven through this adaptive control to the Paexo locked in a fixed level of support. The results showed that the machine learning algorithm can successfully adapt the level of assistance to the lifted mass. Specifically, adaptive assistance can sensibly reduce the muscle activity’s sensitivity to the lifted mass, with an observed relative reduction of up to 31% of the muscular activity observed when lifting 2 kg normalized by the baseline when lifting no mass

From In Situ to satellite observations of pelagic Sargassum distribution and aggregation in the Tropical North Atlantic Ocean

International audienceThe present study reports on observations carried out in the Tropical North Atlantic in summer and autumn 2017, documenting Sargassum aggregations using both ship-deck observations and satellite sensor observations at three resolutions (MSI-10 m, OLCI-300 m, VIIRS-750 m and MODIS-1 km). Both datasets reported that in summer, Sargassum aggre-gations were mainly observed off Brazil and near the Caribbean Islands, while they accumulated near the African coast in autumn. Based on in situ observations, we propose a five-class typology allowing standardisation of the description of in situ Sargassum raft shapes and sizes. The most commonly observed Sargassum raft type was windrows, but large rafts composed of a quasi-circular patch hundreds of meters wide were also observed. Satellite imagery showed that these rafts formed larger Sargassum aggregations over a wide range of scales, with smaller aggregations (of tens of m 2 area) nested within larger ones (of hundreds of km 2). Match-ups between different satellite sensors and in situ observations were limited for this dataset, mainly because of high cloud cover during the periods of observation. Nevertheless, comparisons between the two datasets showed that satellite sensors successfully detected Sargassum abundance and aggregation patterns consistent with in situ observations. MODIS and VIIRS sensors were better suited to describing the Sargas-sum aggregation distribution and dynamics at Atlantic scale, while the new sensors, OLCI and MSI, proved their ability to detect Sargassum aggregations and to describe their (sub-) mesoscale nested structure. The high variability in raft shape, size, thickness, depth and biomass density observed in situ means that caution is called for when using satellite maps of Sargassum distribution and biomass estimation. Improvements would require additional in situ and airborne observations or very high-resolution satellite imagery

Combining electro- and tactile myography to improve hand and wrist activity detection in prostheses

Despite recent advances in prosthetics and assistive robotics in general, robust simultaneous and proportional control of dexterous prosthetic devices remains an unsolved problem, mainly because of inadequate sensorization. In this paper, we study the application of regression to muscle activity, detected using a flexible tactile sensor recording muscle bulging in the forearm (tactile myography—TMG). The sensor is made of 320 highly sensitive cells organized in an array forming a bracelet. We propose the use of Gaussian process regression to improve the prediction of wrist, hand and single-finger activation, using TMG, surface electromyography (sEMG; the traditional approach in the field), and a combination of the two. We prove the effectiveness of the approach for different levels of activations in a real-time goal-reaching experiment using tactile data. Furthermore, we performed a batch comparison between the different forms of sensorization, using a Gaussian process with different kernel distances