Assessment of daily-life dynamic interactions between human body and environment using movement and force sensing on the interface

This study describes a method to estimate load dynamics during the execution of daily life tasks. In many motor tasks, the central nervous system (CNS) applies feed-forward control, using learned patterns. The contribution of state feedback (visual/proprioceptive/reflexive) is significantly less when a certain task has been performed multiple times. We hypothesize that force and movement measured at the interface provide information about load dynamics for this class of tasks, since the load is effectively moved under open-loop conditions

Fatigue of intermittently stimulated quadriceps during imposed cyclical lower leg movements

During prolonged experiments the influence of knee angular velocity, and stimulation parameters (interpulse interval (IPI), duty cycle (DC), number of pulses per cycle (NP)) on fatigue-induced torque\ud decline of paralyzed human quadriceps was studied. Identification of torque-angle and -angular velocity was also performed. The overall loss of maximum torque (MT) and torque-time integral ('lTI) per cycle during sustained intermittent stimulation during isokinetic movement had a typical exponential decay reaching asymptotic values. Larger knee velocities resulted in a significantly faster and relative larger decay of MT and TTI. The rate and relative magnitude of fatigue during concentric contractions are in direct relation\ud to NP. The results may be valuable in the design of optimal control systems for FES which pursue minimization of muscle fatigue

The kinematics of the swing phase obtained from accelerometer and gyroscope measurements

The kinematics needed to calculate the knee moment during the initial swing phase were obtained from a set of eight leg-mounted uni-axial accelerometers and two gyroscopes. The angular and linear accelerations of shank and thigh were calculated from the signals of two accelerometers mounted on each of the leg segments directed tangentially and radially to the movement. The angular velocities of shank and thigh were measured by the gyroscopes. The absolute angles of shank and thigh were obtained by integration of the gyroscope signal plus an added offset angle, estimated from radial and tangential accelerometer signals registered while standing. Movement was assumed to be in the saggital plane. The accuracy of the quantities found from the leg mounted sensors was calculated in terms of correlation and the RMS error by comparing against measurements obtained by a VICONTM system. The results were indistinguishable. The system was later applied in research measurement

Subjective localization of electrocutaneous stimuli

Studying the perception of spatiotemporal stimulus patterns in various modalities may yield important information on the way in which humans process sensory information. The perception of tactile and nociceptive cutaneous stimulus patterns have been studied by Stolle et al. [1] and Trojan et al. [2][4] respectively. Among other things, both authors studied subjective localization of single stimuli. In Trojan et al. [4], two types of mislocalization patterns were observed for nociceptive single stimuli when comparing the localization reports with the stimulus locations: (1) overall proximal or distal displacement and (2) expansion or contraction of the stimulus area.\ud It is unknown whether tactile and nociceptive stimuli at the same skin site are perceived as being at the same site. Therefore, comparing the spatial perception of tactile and nociceptive cutaneous stimuli may provide new insights into their processing. This comparison can only be successfully made by applying nociceptive and tactile stimuli at the same skin site in the same experiment. This can be done by using a device which has recently been developed at our institute and which we refer to as the bimodal stimulation electrode [3]. \ud Recording the perceived locations of stimuli can be done by letting subjects report these on a scale. The most intuitive scale for this is the stimulated arm itself. However, this would bias the perception of stimulus location by providing visual information of the electrode locations. The goal of the present research was to (1) create and (2) test a setup which allows subjects to report perceived stimulus locations on their own arm without seeing the electrode positions. This was achieved by building a setup consisting of a touch screen (Provision Visboard) which presents a digital image of the subject’s own arm (without electrodes) and which is positioned over this arm after the electrodes have been attached. Subjects can report the localizations by pointing at the screen using a pointer

On the design of a triaxial accelerometer

Up to now, mainly uniaxial accelerometers are described in most publications concerning this subject. However, triaxial accelerometers are needed in the biomedical field. Commercially available triaxial accelerometers consisting of three orthogonally positioned uniaxial devices do not meet all specifications of the biomedical application. Therefore, a new highly symmetrical inherently triaxial accelerometer is being developed, the advantages of which are higher sensitivity and reduction of off-axis sensitivity

Polydimethylsiloxane as an elastic material applied in a capacitive accelerometer

Polydimethylsiloxane is a silicone rubber. It has a unique flexibility, resulting in one of the lowest glass-transition temperatures of any polymer. Furthermore, it shows a low elasticity change versus temperature, a high thermal stability, chemical inertness, dielectric stability, shear stability and high compressibility. Because of its high flexibility and the very low drift of its properties with time and temperature, polydimethylsiloxane could be well suited for mechanical sensors, such as accelerometers. A novel capacitive accelerometer with polydimethylsiloxane layers as springs has been realized. The obtained measurement results are promising and show a good correspondence with the theoretical values

The feasability of reflexive control in transfemoral prostheses

The feasibility of reflexive control in transfemoral prosthesis is assessed using a model of the lower extremity. The artificial triggering of reflexes, the processing of the central nervous system, the EMG detection and the control input to the prosthetic knee all take time. A model was used to assess what time delay is acceptable in such a closed loop system for it to be of additional value

Multi-electrode nerve cuff recording - model analysis of the effects of finite cuff length

The effect of finite cuff length on the signals recorded by electrodes at different positions along the nerve was analysed in a model study. Relations were derived using a one-dimensional model. These were evaluated in a more realistic axially symmetric 3D model. This evaluation indicated that the cuff appeared shorter because of edge effects at the beginning and end of the cuff. The method for velocity selective filtering introduced by Donaldson was subsequently analysed. In this method, velocity selective filtering is achieved by summing the signals of subsequent tripoles after applying time shifts tuned to a certain conduction velocity. It was also found that the optimum electrode distance for a given cuff length for maximum summed RMS of symmetrical tripoles in the cuff is larger than when evaluating peak-peak amplitudes of single fibre action potentials. Velocity selective filtering yields better selectivity when using symmetrical tripoles, but may yield larger signal RMS when using the wider asymmetrical tripoles, potentially allowing for shorter cuffs. It is speculated that application of a multi-electrode reference may improve velocity selectivity for asymmetrical tripoles

Low-level finite state control of knee joint in paraplegic standing

Low-level finite state (locked-unlocked) control is compared with open-loop stimulation of the knee extensor muscles in functional electrical stimulation (FES) induced paraplegic standing. The parameters were: duration of standing, relative torque loss in knee extensor muscles, knee angle stability, average stimulus output and average arm effort during standing. To investigate the impact of external mechanical conditions on controller performance, experiments were performed both under the condition of a freely moving ankle joint and of a mechanically stabilized ankle joint. Finite state control resulted in a 2.5 to 12 times increase of standing duration or in a 1.5 to 5 times decrease of relative torque loss in comparison with open-loop stimulation. Finite state control induced a limit cycle oscillation in the knee joint. Average maximum knee flexion was 6.2° without ankle bracing, and half that value with ankle bracing. Average arm support was 13.9 and 7.5% of the body weight without and with ankle bracing respectively