123 research outputs found
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Temporal structure in haptic signaling under a cooperative task
Haptic communication between humans plays an important role in society. Although this form of communication is ubiquitous at all levels of society and of human development, little is known about how synchronized coordination of motion between two persons leads to higher-order cognitive functions used in communication. In this study, we developed a novel experimental paradigm of a coin-collecting task in which participants used their hands to control a rod to jointly collect the coins on the screen. We characterized the haptic interactions between paired participants while they were taking part in a cooperative task. The individual participants first completed this task on their own and then with a randomly assigned partner for the cooperative task. Single participant experiments were used as a baseline to compare results of the paired participants.
Forces applied to the rod were translated to four possible haptic states which encode the combination of the haptic interactions. As a next step, pairs of consecutive haptic states were then combined into 16 possible haptic signals which were classified in terms of their temporal patterns using a Tsallis q-exponential function. For paired participants, 80% of the haptic signals could be fit by the Tsallis q-exponential. On the other hand, only 30% of the signals found in the single-participant trials could be fit by the Tsallis q-exponential. This shows a clear difference in the temporal structures of haptic signals when participants are interacting with each other and when they are not.
We also found 94 a large difference in the number of haptic signals used by paired participants and singles. Single participants only used 1/4 of the possible haptic signals. Paired participants, on the other hand, used more than half of the possible signals. These results suggest that temporal structures present in haptic communication could be linked to the emergence of language at an evolutionary level
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Development of a wearable assistive soft robotic device for elbow rehabilitation
The loss of motor function at the elbow joint can
result as a consequence of stroke. Stroke is a clinical illness resulting in long lasting neurological deficits often affecting somatosensory and motor cortices. More than half of those that recover from a stroke survive with disability in their upper arm and need rehabilitation therapy to help in regaining functions
of daily living. In this paper, we demonstrated a prototype of a low-cost, ultra-light and wearable soft robotic assistive device that could aid administration of elbow motion therapies to stroke patients. In order to assist the rotation of the elbow joint, the soft modules which consist of soft wedge-like cellular units was inflated by air to produce torque at the elbow joint.
Highly compliant rotation can be naturally realised by the elastic property of soft silicone and pneumatic control of air. Based on the direct visual-actuation control, a higher control loop utilised visual processing to apply positional control, the lower control loop was implemented by an electronic circuit to achieve the desired pressure of the soft modules by Pulse Width
Modulation. To examine the functionality of the proposed soft modular system, we used an anatomical model of the upper limb and performed the experiments with healthy participants
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Analysis of EEG signal to detect motor command generation towards stroke rehabilitation
Our aim is to reconstruct the brain-body loop of stroke patients via an EEG-driven robotic system. After the detection of motor command generation, the robotic arm should assist patient’s movement at the correct moment and in a natural way. In this study we performed EEG measurements from healthy subjects performing discrete spontaneous motion. An EEG analysis based on the temporal correlation of the brain activity was employed to determine the onset of single motion motor command generation
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Dynamics of long-range temporal correlations in broadband EEG during different motor execution and imagery tasks
Brain activity is composed of oscillatory and broadband arrhythmic components;
however, there is more focus on oscillatory sensorimotor rhythms to study movement,
but temporal dynamics of broadband arrhythmic electroencephalography (EEG) remain
unexplored. We have previously demonstrated that broadband arrhythmic EEG contains
both short- and long-range temporal correlations that change significantly during
movement. In this study, we build upon our previous work to gain a deeper understanding
of these changes in the long-range temporal correlation (LRTC) in broadband EEG and
contrast them with the well-known LRTC in alpha oscillation amplitude typically found in
the literature. We investigate and validate changes in LRTCs during five different types of
movements and motor imagery tasks using two independent EEG datasets recorded
with two different paradigms—our finger tapping dataset with single self-initiated
asynchronous finger taps and publicly available EEG dataset containing cued continuous
movement and motor imagery of fists and feet. We quantified instantaneous changes
in broadband LRTCs by detrended fluctuation analysis on single trial 2 s EEG sliding
windows. The broadband LRTC increased significantly (p < 0.05) during all motor tasks
as compared to the resting state. In contrast, the alpha oscillation LRTC, which had
to be computed on longer stitched EEG segments, decreased significantly (p < 0.05)
consistently with the literature. This suggests the complementarity of underlying fast
and slow neuronal scale-free dynamics during movement and motor imagery. The single
trial broadband LRTC gave high average binary classification accuracy in the range of
70.54±10.03% to 76.07±6.40% for all motor execution and imagery tasks and hence
can be used in brain–computer interface (BCI). Thus, we demonstrate generalizability,
robustness, and reproducibility of novel motor neural correlate, the single trial broadband
LRTC, during different motor execution and imagery tasks in single asynchronous and
cued continuous motor-BCI paradigms and its contrasting behavior with LRTC in alpha
oscillation amplitude
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A feasible study of EEG-driven assistive robotic system for stroke rehabilitation
Stroke is a medical emergency and can cause a neurological damage, affecting the motor and sensory systems. Harnessing brain plasticity should make it possible to reconstruct the closed loop between the brain and the body, i.e., association of the generation of the motor command with the somatic sensory feedback might enhance motor recovery. In order to aid reconstruction of this loop with a robotic device it is necessary to assist the paretic side of the body at the right moment to achieve simultaneity between motor command and feedback signal to somatic sensory area in brain. To this end, we propose an integrated EEG-driven assistive robotic system for stroke rehabilitation. Depending on the level of motor recovery, it is important to provide adequate stimulation for upper limb motion. Thus, we propose an assist arm incorporating a Magnetic Levitation Joint that can generate a compliant motion due to its levitation and mechanical redundancy. This paper reports on a feasibility study carried out to verify the validity of the robot sensing and on EEG measurements conducted with healthy volunteers while performing a spontaneous arm flexion/extension movement. A characteristic feature was found in the temporal evolution of EEG signal in the single motion prior to executed motion which can aid in coordinating timing of the robotic arm assistance onset
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Electrically induced bacterial membrane-potential dynamics correspond to cellular proliferation capacity
Membrane-potential dynamics mediate bacterial electrical signaling at both intra- and intercellular levels. Membrane potential is also central to cellular proliferation. It is unclear whether the cellular response to external electrical stimuli is influenced by the cellular proliferative capacity. A new strategy enabling electrical stimulation of bacteria with simultaneous monitoring of single-cell membrane- potential dynamics would allow bridging this knowledge gap and further extend electrophysiological studies into the field of microbi- ology. Here we report that an identical electrical stimulus can cause opposite polarization dynamics depending on cellular proliferation capacity. This was demonstrated using two model organisms, namely Bacillus subtilis and Escherichia coli, and by developing an apparatus enabling exogenous electrical stimulation and single-cell time-lapse microscopy. Using this bespoke apparatus, we show that a 2.5-sec- ond electrical stimulation causes hyperpolarization in unperturbed cells. Measurements of intracellular K+ and the deletion of the K+ channel suggested that the hyperpolarization response is caused by the K+ efflux through the channel. When cells are preexposed to 400 ± 8 nm wavelength light, the same electrical stimulation depolarizes cells instead of causing hyperpolarization. A mathematical model extended from the FitzHugh–Nagumo neuron model suggested that the opposite response dynamics are due to the shift in resting mem- brane potential. As predicted by the model, electrical stimulation only induced depolarization when cells are treated with antibiotics, protonophore, or alcohol. Therefore, electrically induced membrane- potential dynamics offer a reliable approach for rapid detection of proliferative bacteria and determination of their sensitivity to anti- microbial agents at the single-cell level
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Recommendations for the management of MPS VI: systematic evidence- and consensus-based guidance.
IntroductionMucopolysaccharidosis (MPS) VI or Maroteaux-Lamy syndrome (253200) is an autosomal recessive lysosomal storage disorder caused by deficiency in N-acetylgalactosamine-4-sulfatase (arylsulfatase B). The heterogeneity and progressive nature of MPS VI necessitates a multidisciplinary team approach and there is a need for robust guidance to achieve optimal management. This programme was convened to develop evidence-based, expert-agreed recommendations for the general principles of management, routine monitoring requirements and the use of medical and surgical interventions in patients with MPS VI.Methods26 international healthcare professionals from various disciplines, all with expertise in managing MPS VI, and three patient advocates formed the Steering Committee group (SC) and contributed to the development of this guidance. Members from six Patient Advocacy Groups (PAGs) acted as advisors and attended interviews to ensure representation of the patient perspective. A modified-Delphi methodology was used to demonstrate consensus among a wider group of healthcare professionals with expertise and experience managing patients with MPS VI and the manuscript has been evaluated against the validated Appraisal of Guidelines for Research and Evaluation (AGREE II) instrument by three independent reviewers.ResultsA total of 93 guidance statements were developed covering five domains: (1) general management principles; (2) recommended routine monitoring and assessments; (3) enzyme replacement therapy (ERT) and hematopoietic stem cell transplantation (HSCT); (4) interventions to support respiratory and sleep disorders; (5) anaesthetics and surgical interventions. Consensus was reached on all statements after two rounds of voting. The greatest challenges faced by patients as relayed by consultation with PAGs were deficits in endurance, dexterity, hearing, vision and respiratory function. The overall guideline AGREE II assessment score obtained for the development of the guidance was 5.3/7 (where 1 represents the lowest quality and 7 represents the highest quality of guidance).ConclusionThis manuscript provides evidence- and consensus-based recommendations for the management of patients with MPS VI and is for use by healthcare professionals that manage the holistic care of patients with the intention to improve clinical- and patient-reported outcomes and enhance patient quality of life. It is recognised that the guidance provided represents a point in time and further research is required to address current knowledge and evidence gaps
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Recommendations for the management of MPS IVA: systematic evidence- and consensus-based guidance.
IntroductionMucopolysaccharidosis (MPS) IVA or Morquio A syndrome is an autosomal recessive lysosomal storage disorder (LSD) caused by deficiency of the N-acetylgalactosamine-6-sulfatase (GALNS) enzyme, which impairs lysosomal degradation of keratan sulphate and chondroitin-6-sulphate. The multiple clinical manifestations of MPS IVA present numerous challenges for management and necessitate the need for individualised treatment. Although treatment guidelines are available, the methodology used to develop this guidance has come under increased scrutiny. This programme was conducted to provide evidence-based, expert-agreed recommendations to optimise management of MPS IVA.MethodsTwenty six international healthcare professionals across multiple disciplines, with expertise in managing MPS IVA, and three patient advocates formed the Steering Committee (SC) and contributed to the development of this guidance. Representatives from six Patient Advocacy Groups (PAGs) were interviewed to gain insights on patient perspectives. A modified-Delphi methodology was used to demonstrate consensus among a wider group of healthcare professionals with experience managing patients with MPS IVA and the manuscript was evaluated against the validated Appraisal of Guidelines for Research and Evaluation (AGREE II) instrument by three independent reviewers.ResultsA total of 87 guidance statements were developed covering five domains: (1) general management principles; (2) recommended routine monitoring and assessments; (3) disease-modifying interventions (enzyme replacement therapy [ERT] and haematopoietic stem cell transplantation [HSCT]); (4) interventions to support respiratory and sleep disorders; (5) anaesthetics and surgical interventions (including spinal, limb, ophthalmic, cardio-thoracic and ear-nose-throat [ENT] surgeries). Consensus was reached on all statements after two rounds of voting. The overall guideline AGREE II assessment score obtained for the development of the guidance was 5.3/7 (where 1 represents the lowest quality and 7 represents the highest quality of guidance).ConclusionThis manuscript provides evidence- and consensus-based recommendations for the management of patients with MPS IVA and is for use by healthcare professionals that manage the holistic care of patients with the intention to improve clinical- and patient-reported outcomes and enhance patient quality of life. It is recognised that the guidance provided represents a point in time and further research is required to address current knowledge and evidence gaps
Random walks on activity-driven networks with attractiveness
Virtually all real-world networks are dynamical entities. In social networks, the propensity of nodes to engage in social interactions (activity) and their chances to be selected by active nodes (attractiveness) are heterogeneously distributed. Here, we present a time-varying network model where each node and the dynamical formation of ties are characterized by these two features. We study how these properties affect random-walk processes unfolding on the network when the time scales describing the process and the network evolution are comparable. We derive analytical solutions for the stationary state and the mean first-passage time of the process, and we study cases informed by empirical observations of social networks. Our work shows that previously disregarded properties of real social systems, such as heterogeneous distributions of activity and attractiveness as well as the correlations between them, substantially affect the dynamical process unfolding on the network
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Design and validation of exoskeleton actuated by soft modules towards neurorehabilitation - vision-based control for precise reaching motion of upper limb
We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realised by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale.
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Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton.
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The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable wearable and portable systems are required to be customised for individuals with specific motor impairments
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