Gaze-based teleprosthetic enables intuitive continuous control of complex robot arm use: Writing & drawing

Eye tracking is a powerful mean for assistive technologies for people with movement disorders, paralysis and amputees. We present a highly intuitive eye tracking-controlled robot arm operating in 3-dimensional space based on the user's gaze target point that enables tele-writing and drawing. The usability and intuitive usage was assessed by a “tele” writing experiment with 8 subjects that learned to operate the system within minutes of first time use. These subjects were naive to the system and the task and had to write three letters on a white board with a white board pen attached to the robot arm's endpoint. The instructions are to imagine they were writing text with the pen and look where the pen would be going, they had to write the letters as fast and as accurate as possible, given a letter size template. Subjects were able to perform the task with facility and accuracy, and movements of the arm did not interfere with subjects ability to control their visual attention so as to enable smooth writing. On the basis of five consecutive trials there was a significant decrease in the total time used and the total number of commands sent to move the robot arm from the first to the second trial but no further improvement thereafter, suggesting that within writing 6 letters subjects had mastered the ability to control the system. Our work demonstrates that eye tracking is a powerful means to control robot arms in closed-loop and real-time, outperforming other invasive and non-invasive approaches to Brain-Machine-Interfaces in terms of calibration time (<;2 minutes), training time (<;10 minutes), interface technology costs. We suggests that gaze-based decoding of action intention may well become one of the most efficient ways to interface with robotic actuators - i.e. Brain-Robot-Interfaces - and become useful beyond paralysed and amputee users also for the general teleoperation of robotic and exoskeleton in human augmentation

"Wink to grasp" – comparing eye, voice & EMG gesture control of grasp with soft-robotic gloves

The ability of robotic rehabilitation devices to support paralysed end-users is ultimately limited by the degree to which human-machine-interaction is designed to be effective and efficient in translating user intention into robotic action. Specifically, we evaluate the novel possibility of binocular eye-tracking technology to detect voluntary winks from involuntary blink commands, to establish winks as a novel low-latency control signal to trigger robotic action. By wearing binocular eye-tracking glasses we enable users to directly observe their environment or the actuator and trigger movement actions, without having to interact with a visual display unit or user interface. We compare our novel approach to two conventional approaches for controlling robotic devices based on electromyo-graphy (EMG) and speech-based human-computer interaction technology. We present an integrated software framework based on ROS that allows transparent integration of these multiple modalities with a robotic system. We use a soft-robotic SEM glove (Bioservo Technologies AB, Sweden) to evaluate how the 3 modalities support the performance and subjective experience of the end-user when movement assisted. All 3 modalities are evaluated in streaming, closed-loop control operation for grasping physical objects. We find that wink control shows the lowest error rate mean with lowest standard deviation of (0.23 ± 0.07, mean ± SEM) followed by speech control (0.35 ± 0. 13) and EMG gesture control (using the Myo armband by Thalamic Labs), with the highest mean and standard deviation (0.46 ± 0.16). We conclude that with our novel own developed eye-tracking based approach to control assistive technologies is a well suited alternative to conventional approaches, especially when combined with 3D eye-tracking based robotic end-point control

Working memory training effects on white matter integrity in young and older adults

Objectives: Working memory is essential for daily life skills like reading comprehension, reasoning, and problem-solving. Healthy aging of the brain goes along with working memory decline that can affect older people’s independence in everyday life. Interventions in the form of cognitive training are a promising tool for delaying age-related working memory decline, yet the underlying structural plasticity of white matter is hardly studied. Methods: We conducted a longitudinal diffusion tensor imaging study to investigate the effects of an intensive four-week adaptive working memory training on white matter integrity quantified by global and tract-wise mean diffusivity. We compared diffusivity measures of fiber tracts that are associated with working memory of 32 young and 20 older participants that were randomly assigned to a working memory training group or an active control group. Results: The behavioral analysis showed an increase in working memory performance after the four-week adaptive working memory training. The neuroanatomical analysis revealed a decrease in mean diffusivity in the working memory training group after the training intervention in the right inferior longitudinal fasciculus for the older adults. There was also a decrease in mean diffusivity in the working memory training group in the right superior longitudinal fasciculus for the older and young participants after the intervention. Conclusion: This study shows that older people can benefit from working memory training by improving their working memory performance that is also reflected in terms of improved white matter integrity in the superior longitudinal fasciculus and the inferior longitudinal fasciculus, where the first is an essential component of the frontoparietal network known to be essential in working memory