Co-adaptive myoelectric control for upper limb prostheses

[ES] Mucha gente en el mundo se ve afectada por la pérdida de una extremidad (las predicciones estiman que en 2050 habrá más de 3 millones de personas afectadas únicamente en los Estados Unidos de América). A pesar de la continua mejora en las técnicas de amputación y la prostética, vivir sin una extremidad sigue limitando las actividades de los afectados en su vida diaria, provocando una disminución en su calidad de vida. En este trabajo nos centramos en los casos de amputaciones de extremidades superiores, entendiendo por ello la pérdida de cualquier parte del brazo o antebrazo. Esta tesis trata sobre el control mioeléctrico (potenciales eléctricos superficiales generados por la contracción de los músculos) de prótesis de extremidades superiores. Los estudios en este campo han crecido exponencialmente en las últimas décadas intentando reducir el hueco entre la parte investigadora más dinámica y propensa a los cambios e innovación (por ejemplo, usando técnicas como la inteligencia artificial) y la industria prostética, con una gran inercia y poco propensa a introducir cambios en sus controladores y dispositivos. El principal objetivo de esta tesis es desarrollar un nuevo controlador implementable basado en filtros adaptativos que supere los principales problemas del estado del arte. Desde el punto de vista teórico, podríamos considerar dos contribuciones principales. Primero, proponemos un nuevo sistema para modelar la relación entre los patrones de la señales mioélectricas y los movimientos deseados; este nuevo modelo tiene en cuenta a la hora de estimar la posición actual el valor de los estados pasados generando una nueva sinergia entre máquina y ser humano. En segundo lugar, introducimos un nuevo paradigma de entrenamiento más eficiente y personalizado autónomamente, el cual puede aplicarse no sólo a nuestro nuevo controlador, sino a otros regresores disponibles en la literatura. Como consecuencia de este nuevo protocolo, la estructura humano-máquina difiere con respecto del actual estado del arte en dos características: el proceso de aprendizaje del controlador y la estrategia para la generación de las señales de entrada. Como consecuencia directa de todo esto, el diseño de la fase experimental resulta mucho más complejo que con los controladores tradicionales. La dependencia de la posición actual de la prótesis con respecto a estados pasados fuerza a la realización de todos los experimentos de validación del nuevo controlador en tiempo real, algo costoso en recursos tanto humanos como de tiempo. Por lo tanto, una gran parte de esta tesis está dedicada al trabajo de campo necesario para validar el nuevo modelo y estrategia de entrenamiento. Como el objetivo final es proveer un nuevo controlador implementable, la última parte de la tesis está destinada a testear los métodos propuestos en casos reales, tanto en entornos simulados para validar su robustez ante rutinas diarias, como su uso en dispositivos prostéticos comerciales. Como conclusión, este trabajo propone un nuevo paradigma de control mioélectrico para prótesis que puede ser implementado en una prótesis real. Una vez se ha demostrado la viabilidad del sistema, la tesis propone futuras líneas de investigación, mostrando algunos resultados iniciales.[CA] Molta gent en el món es veu afectada per la pèrdua d'una extremitat (les prediccions estimen que en 2050 hi haurà més de 3 milions de persones afectades únicament als Estats Units d'Amèrica). Malgrat la contínua millora en les tècniques d'amputació i la prostètica, viure sense una extremitat continua limitant les activitats dels afectats en la seua vida diària, provocant una disminució en la seua qualitat de vida. En aquest treball ens centrem en els casos d'amputacions d'extremitats superiors, entenent per això la pèrdua de qualsevol part del braç o avantbraç. Aquesta tesi tracta sobre el control mioelèctric (potencials elèctrics superficials generats per la contracció dels músculs) de pròtesis d'extremitats superiors. Els estudis en aquest camp han crescut exponencialment en les últimes dècades intentant reduir el buit entre la part investigadora més dinàmica i propensa als canvis i innovació (per exemple, usant tècniques com la intel·ligència artificial) i la indústria prostètica, amb una gran inèrcia i poc propensa a introduir canvis en els seus controladors i dispositius. Aquesta tesi contribueix a la investigació des de diversos punts de vista. El principal objectiu és desenvolupar un nou controlador basat en filtres adaptatius que supere els principals problemes de l'estat de l'art. Des del punt de vista teòric, podríem considerar dues contribucions principals. Primer, proposem un nou sistema per a modelar la relació entre els patrons de la senyals mioelèctrics i els moviments desitjats; aquest nou model té en compte a l'hora d'estimar la posició actual el valor dels estats passats generant una nova sinergia entre màquina i ésser humà. En segon lloc, introduïm un nou paradigma d'entrenament més eficient i personalitzat autònomament, el qual pot aplicar-se no sols al nostre nou controlador, sinó a uns altres regresors disponibles en la literatura. Com a conseqüència d'aquest nou protocol, l'estructura humà-màquina difereix respecte a l'actual estat de l'art en dues característiques: el procés d'aprenentatge del controlador i l'estratègia per a la generació dels senyals d'entrada. Com a conseqüència directa de tot això, el disseny de la fase experimental resulta molt més complex que amb els controladors tradicionals. La dependència de la posició actual de la pròtesi respecte a estats passats força a la realització de tots els experiments de validació del nou controlador en temps real, una cosa costosa en recursos tant humans com de temps. Per tant, una gran part d'aquesta tesi està dedicada al treball de camp necessari per a validar el nou model i estratègia d'entrenament. Com l'objectiu final és proveir un nou controlador implementable, l'última part de la tesi està destinada a testar els mètodes proposats en casos reals, tant en entorns simulats per a validar la seua robustesa davant rutines diàries, com el seu ús en dispositius prostètics comercials. Com a conclusió, aquest treball proposa un nou paradigma de control mioelèctric per a pròtesi que pot ser implementat en una pròtesi real. Una vegada s'ha demostrat la viabilitat del sistema, la tesi proposa futures línies d'investigació, mostrant alguns resultats inicials.[EN] Many people in the world suffer from the loss of a limb (predictions estimate more than 3 million people by 2050 only in the USA). In spite of the continuous improvement in the amputation rehabilitation and prosthetic restoration, living without a limb keeps limiting the daily life activities leading to a lower quality of life. In this work, we focus in the upper limb amputation case, i.e., the removal of any part of the arm or forearm. This thesis is about upper limb prosthesis control using electromyographic signals (the superficial electric potentials generated during muscle contractions). Studies in this field have grown exponentially in the past decades trying to reduce the gap between a fast growing prosthetic research field, with the introduction of machine learning, and a slower prosthetic industry and limited manufacturing innovation. This thesis contributes to the field from different perspectives. The main goal is to provide and implementable new controller based on adaptive filtering that overcomes the most common state of the art concerns. From the theoretical point of view, there are two main contributions. First, we propose a new system to model the relationship between electromyographic signals and the desired prosthesis movements; this new model takes into account previous states for the estimation of the current position generating a new human-machine synergy. Second, we introduce a new and more efficient autonomously personalized training paradigm, which can benefit not only to our new proposed controller but also other state of the art regressors. As a consequence of this new protocol, the human-machine structure differs with respect to current state of the art in two features: the controller learning process and the input signal generation strategy. As a direct aftereffect of all of this, the experimental phase design results more complex than with traditional controllers. The current state dependency on past states forces the experimentation to be in real time, a very high demanding task in human and time resources. Therefore, a major part of this thesis is the associated fieldwork needed to validate the new model and training strategy. Since the final goal is to provide an implementable new controller, the last part of the thesis is devoted to test the proposed methods in real cases, not only analyzing the robustness and reliability of the controller in real life situations but in real prosthetic devices. As a conclusion, this work provides a new paradigm for the myoelectric prosthetic control that can be implemented in a real device. Once the thesis has proven the system's viability, future work should continue with the development of a physical device where all these ideas are deployed and used by final patients in a daily basis.The work of Carles Igual Bañó to carry out this research and elaborate this dissertation has been supported by the Ministerio de Educación, Cultura y Deporte under the FPU Grant FPU15/02870. One visiting research fellowships (EST18/00544) was also funded by the Ministerio de Educación, Cultura y Deporte of Spain.Igual Bañó, C. (2021). Co-adaptive myoelectric control for upper limb prostheses [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/168192TESI

Donning/Doffing and Arm Positioning Influence in Upper Limb Adaptive Prostheses Control

[EN] New upper limb prostheses controllers are continuously being proposed in the literature. However, most of the prostheses commonly used in the real world are based on very old basic controllers. One reason to explain this reluctance to change is the lack of robustness. Traditional controllers have been validated by many users and years, so the introduction of a new controller paradigm requires a lot of strong evidence of a robust behavior. In this work, we approach the robustness against donning/doffing and arm position for recently proposed linear filter adaptive controllers based on myoelectric signals. The adaptive approach allows to introduce some feedback in a natural way in real time in the human-machine collaboration, so it is not so sensitive to input signals changes due to donning/doffing and arm movements. The average completion rate and path efficiency obtained for eight able-bodied subjects donning/doffing five times in four days is 95.83% and 84.19%, respectively, and for four participants using different arm positions is 93.84% and 88.77%, with no statistically significant difference in the results obtained for the different conditions. All these characteristics make the adaptive linear regression a potential candidate for future real world prostheses controllers.This work is partially supported by Ministerio de Educacion, Cultura y Deporte (Spain) under grant FPU15/02870. The authors would like to thank Lucas Parra for the Myo device and Janne M. Hahne for discussions about the subject of the paper.Igual, C.; Camacho-García, A.; Bernabeu Soler, EJ.; Igual García, J. (2020). Donning/Doffing and Arm Positioning Influence in Upper Limb Adaptive Prostheses Control. Applied Sciences. 10(8):1-19. https://doi.org/10.3390/app10082892S119108Esquenazi, A. (2004). 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Diseño, monitorización y control de un hexápodo con ROS

[ES] Propuesta genérica de realización de proyectos con robots móviles de diversa índole. Plataformas: robots móviles con ruedas (Pioneer 3DX, summit), robots humanoides, robots hexápodos, robots aéreos (AR-Drone), robots submarinos, etc. Aplicaciones: industriales, educacionales, rescate, competiciones, submarinas. Por lo general, los proyectos pueden centrarse en el diseño de controladores cinemáticos/dinámicos y/o algoritmos inteligentes de navegación, construcción de mapas, evitación de obstáculos, visual servoing. Muchos otros proyectos pueden orientarse al procesamiento de cámaras para la detección de objetos o al uso de plataformas embebidas (RaspberryPi, Arduino, procesadores ARM). También pueden orientarse al procesamiento de sensores diversos (fundamentalmente sensores de rango y odométricos). Uso de librerías de código abierto OpenCV, ROS y muchas otras en las que hay mucho trabajo ya hecho con un esfuerzo menor.Igual Bañó, C. (2014). Diseño, monitorización y control de un hexápodo con ROS. http://hdl.handle.net/10251/49831.TFG

A fully-automatic caudate nucleus segmentation of brain MRI: Application in volumetric analysis of pediatric attention-deficit/hyperactivity disorder

Background Accurate automatic segmentation of the caudate nucleus in magnetic resonance images (MRI) of the brain is of great interest in the analysis of developmental disorders. Segmentation methods based on a single atlas or on multiple atlases have been shown to suitably localize caudate structure. However, the atlas prior information may not represent the structure of interest correctly. It may therefore be useful to introduce a more flexible technique for accurate segmentations. Method We present Cau-dateCut: a new fully-automatic method of segmenting the caudate nucleus in MRI. CaudateCut combines an atlas-based segmentation strategy with the Graph Cut energy-minimization framework. We adapt the Graph Cut model to make it suitable for segmenting small, low-contrast structures, such as the caudate nucleus, by defining new energy function data and boundary potentials. In particular, we exploit information concerning the intensity and geometry, and we add supervised energies based on contextual brain structures. Furthermore, we reinforce boundary detection using a new multi-scale edgeness measure. Results We apply the novel CaudateCut method to the segmentation of the caudate nucleus to a new set of 39 pediatric attention-deficit/hyperactivity disorder (ADHD) patients and 40 control children, as well as to a public database of 18 subjects. We evaluate the quality of the segmentation using several volumetric and voxel by voxel measures. Our results show improved performance in terms of segmentation compared to state-of-the-art approaches, obtaining a mean overlap of 80.75%. Moreover, we present a quantitative volumetric analysis of caudate abnormalities in pediatric ADHD, the results of which show strong correlation with expert manual analysis. Conclusion CaudateCut generates segmentation results that are comparable to gold-standard segmentations and which are reliable in the analysis of differentiating neuroanatomical abnormalities between healthy controls and pediatric ADHD

Impact of hip abductor and adductor strength on dynamic balance and ankle biomechanics in young elite female Basketball players

This study aimed to evaluate, in an isolated and relative manner, hip abductor (ABD) and adductor (AD) strength and to study the extent to which these factors are related to balance and ankle dorsiflexion mobility in young elite female basketball players. Sixty trainee-level elite female basketball players (13-18 years old), who voluntarily agreed to participate in the study, were divided into three subgroups based on competition age divisions (U14, U16, U18). Isometric hip ABD and AD strength in each leg was evaluated using the ForceFrame Strength Testing System, also calculating the strength ratio and imbalance between legs. Y Balance Test (YBT) and ankle dorsiflexion mobility were also assessed. ANOVA was used for between-group differences analysis. Likewise, the impact of hip strength on balance and ankle mobility was analyzed using Pearson's correlation coefficient. A linear regression model for dependent variables was created with all variables that exhibited significant correlations. A between-group comparison analysis for the three competition age subgroups (U14, U16, U18) revealed non-significant differences (p > 0.005) for the hip strength variables except for hip ABD strength. The correlation study showed low-moderate effect sizes for hip ABD (in both the contralateral and homolateral limb) and AD strength (only the homolateral limb) with YBT and ankle dorsiflexion. However, when performing a regression model, only right hip ABD significantly predicted right limb YBT scores (β = 0.592, p = 0.048). The present study indicated that, although both hip ABD and AD strength correlate with balance and ankle mobility with low-moderate effect sizes, only hip ABD strength was found to significantly predict YBT scores. Therefore, the potential role of hip ABD strength in particular, but also hip AD strength, for monitoring and enhancing balance and ankle mobility outcomes, should be taken into consideration when designing and implementing preventive strategies for lower-limb injuries

Advances and challenges in automated malaria diagnosis using digital microscopy imaging with artificial intelligence tools: A review

Deep learning; Malaria diagnosis; Microscopic examinationAprenentatge profund; Diagnòstic de malària; Examen microscòpicAprendizaje profundo; Diagnóstico de malaria; Examen microscópicoMalaria is an infectious disease caused by parasites of the genus Plasmodium spp. It is transmitted to humans by the bite of an infected female Anopheles mosquito. It is the most common disease in resource-poor settings, with 241 million malaria cases reported in 2020 according to the World Health Organization. Optical microscopy examination of blood smears is the gold standard technique for malaria diagnosis; however, it is a time-consuming method and a well-trained microscopist is needed to perform the microbiological diagnosis. New techniques based on digital imaging analysis by deep learning and artificial intelligence methods are a challenging alternative tool for the diagnosis of infectious diseases. In particular, systems based on Convolutional Neural Networks for image detection of the malaria parasites emulate the microscopy visualization of an expert. Microscope automation provides a fast and low-cost diagnosis, requiring less supervision. Smartphones are a suitable option for microscopic diagnosis, allowing image capture and software identification of parasites. In addition, image analysis techniques could be a fast and optimal solution for the diagnosis of malaria, tuberculosis, or Neglected Tropical Diseases in endemic areas with low resources. The implementation of automated diagnosis by using smartphone applications and new digital imaging technologies in low-income areas is a challenge to achieve. Moreover, automating the movement of the microscope slide and image autofocusing of the samples by hardware implementation would systemize the procedure. These new diagnostic tools would join the global effort to fight against pandemic malaria and other infectious and poverty-related diseases.The project is funded by the Microbiology Department of Vall d’Hebron Universitary Hospital, the Cooperation Centre of the Universitat Politècnica de Catalunya (CCD-UPC) and the Probitas Foundation

Advances and challenges in automated malaria diagnosis using digital microscopy imaging with artificial intelligence tools : A review

Malaria is an infectious disease caused by parasites of the genus Plasmodium spp. It is transmitted to humans by the bite of an infected female Anopheles mosquito. It is the most common disease in resource-poor settings, with 241 million malaria cases reported in 2020 according to the World Health Organization. Optical microscopy examination of blood smears is the gold standard technique for malaria diagnosis; however, it is a time-consuming method and a well-trained microscopist is needed to perform the microbiological diagnosis. New techniques based on digital imaging analysis by deep learning and artificial intelligence methods are a challenging alternative tool for the diagnosis of infectious diseases. In particular, systems based on Convolutional Neural Networks for image detection of the malaria parasites emulate the microscopy visualization of an expert. Microscope automation provides a fast and low-cost diagnosis, requiring less supervision. Smartphones are a suitable option for microscopic diagnosis, allowing image capture and software identification of parasites. In addition, image analysis techniques could be a fast and optimal solution for the diagnosis of malaria, tuberculosis, or Neglected Tropical Diseases in endemic areas with low resources. The implementation of automated diagnosis by using smartphone applications and new digital imaging technologies in low-income areas is a challenge to achieve. Moreover, automating the movement of the microscope slide and image autofocusing of the samples by hardware implementation would systemize the procedure. These new diagnostic tools would join the global effort to fight against pandemic malaria and other infectious and poverty-related diseases

Protocol per a la vigilància i el control de les arbovirosis importades transmeses per mosquits a Catalunya

Arbovirus; Mosquits; Malalties víriquesArboviruses; Mosquitoes; Viral diseasesArbovirus; Mosquitos; Enfermedades víricasThis protocol aims to provide a guide for the surveillance of the most likely arbovirosis transmitted by mosquito vectors in Catalonia (West Nile virus, dengue and chikungunya), establishing a set of surveillance activities for these diseases and control of the vectors, depending on the risk level of arbovirosisEste protocolo tiene como objetivo ofrecer una guía para la vigilancia de las arbovirosi más probables transmitidas por vectores mosquitos en Cataluña (virus del Nilo Occidental, dengue y chikungunya), estableciendo un conjunto de actividades de vigilancia de estas enfermedades y de control los vectores, según el nivel de riesgo de arbovirosiAquest protocol té com a objectiu oferir una guia per a la vigilància de les arbovirosis més probables transmeses per vectors mosquits a Catalunya (virus del Nil Occidental, dengue i chikungunya), establint un conjunt d’activitats de vigilància d’aquestes malalties i de control dels vectors, segons el nivell de risc d’arbovirosi

Ancient DNA of the Extinct Lava Shearwater (Puffinus olsoni) from the Canary Islands Reveals Incipient Differentiation within the P. puffinus Complex

The loss of species during the Holocene was, dramatically more important on islands than on continents. Seabirds from islands are very vulnerable to human-induced alterations such as habitat destruction, hunting and exotic predators. For example, in the genus Puffinus (family Procellariidae) the extinction of at least five species has been recorded during the Holocene, two of them coming from the Canary Islands

Protocol per a la vigilància i el control de les arbovirosis transmeses per mosquits a Catalunya

Arbovirus; Mosquits; Malalties víriquesArboviruses; Mosquitoes; Viral diseasesArbovirus; Mosquitos; Enfermedades víricasThis protocol aims to provide a guide for the surveillance of the most likely arbovirosis transmitted by mosquito vectors in Catalonia (West Nile virus, dengue and chikungunya), establishing a set of surveillance activities for these diseases and control of the vectors, depending on the risk level of arbovirosisEste protocolo tiene como objetivo ofrecer una guía para la vigilancia de las arbovirosi más probables transmitidas por vectores mosquitos en Cataluña (virus del Nilo Occidental, dengue y chikungunya), estableciendo un conjunto de actividades de vigilancia de estas enfermedades y de control los vectores, según el nivel de riesgo de arbovirosiAquest protocol té com a objectiu oferir una guia per a la vigilància de les arbovirosis més probables transmeses per vectors mosquits a Catalunya (virus del Nil Occidental, dengue i chikungunya), establint un conjunt d’activitats de vigilància d’aquestes malalties i de control dels vectors, segons el nivell de risc d’arbovirosi