Software interfaces of the Jaco robotic arm: results of a focus group

Robotics is a good opportunity for developing assistive technologies that could provide greater functionalities to provide for more independent activities of daily living. The Jaco robotic arm is one of these devices. Using standard joystick control requires fine motor skills, which are often lacking in persons with spinal cord injury (SCI). A user- centered approach was conducted to design two alternative graphical user interfaces to control the Jaco arm. Firs, five Graphical User Interfaces (GUI) were designed: three based on a software keyboard and two on pie menu concepts. The three software keyboards differ from the visual representation: text buttons, icon buttons, or color organization and are adapted to the Jaco’s control modes. The two pie menus differ according to the interaction technique used to access the second level of the pie menu, i.e. the two techniques designed: pointing and “goal crossing”. Then two groups (one of occupational therapists and another of persons with quadriplegia caused by SCI) were invited to answer a questionnaire to collect their feedback and evaluate their future needs regarding the five GUIs presented. Following the focus group two GUIs were proposed taking into account these issues. The paper will discuss the user-centered approach and the issues that arose at each stage of the design

Qualité de la spirométrie dans la cohorte Constances et prévalence du trouble ventilatoire obstructif

International audienceINTRODUCTION – The aim of this study was to describe the quality of spirometry tests and to provide a preliminary estimation of airway obstruction (AO) prevalence among the first participants to the CONSTANCES cohort. METHODS – CONSTANCES is an epidemiological population-based cohort composed of a representative sample of voluntary participants selected randomly and aged 18-69 years. Spirometry tests (pre-bronchodilator flow-volume curves) were performed according to standard operating procedures. A sample of spirometry tests, rated as valid by the operator, was checked by two chest physicians. The prevalence of AO (defined by a FEV1/FVC <0.70) was estimated among the 30-69 years old participants included as of 31/01/2014 with valid tests. RESULTS – About 99% of the sampled operator-valid tests were rated as of acceptable quality by the chest physi-cians. During the physical exam, among the 28,315 participants aged 30-69 years, 15,206 (53.7%) had a valid spirometry test. Among them, 5.6% had a FEV1/FVC below 0.7 (men 7.7%, women 3.8%). CONCLUSION – The quality control confirmed that the spirometry tests rated as valid by the operator were of acceptable quality. Nevertheless, only 53.7% of participants achieved a valid spirometry test, highlighting the difficulty to perform optimal spirometry tests. About 5.6 % of adults aged 30-69 years had a pre-bronchodilator FEV1/FVC<0.7.Introduction-Cet article présente une évaluation de la qualité des spirométries et une première estimation de la prévalence du trouble ventilatoire obstructif (TVO) chez les premiers participants à Constances. Méthodes-Constances est une cohorte épidémiologique constituée de volontaires tirés au sort et âgés de 18 à 69 ans à l'inclusion. Les spirométries (courbes débit-volume sans test de bronchodilatation) ont été réalisées selon une procédure standardisée. Leur qualité a été évaluée par deux pneumologues sur un échantillon de courbes jugées exploitables par l'opérateur. La prévalence du TVO a été estimée chez les adultes de 30 à 69 ans recrutés au 31 janvier 2014 et ayant une spirométrie exploitable. Le TVO a été défini par un rapport VEMS/CVF <0,70. Résultats-Les spirométries jugées exploitables par l'opérateur étaient acceptables ou optimales pour 99% de l'échantillon de spirométries étudié. Parmi les 28 315 participants âgés de 30 à 69 ans lors de l'examen de santé, 15 206 (53,7%) avaient une spirométrie acceptable ; 5,6% d'entre eux (hommes : 7,7% ; femmes : 3,8%) avaient un TVO. Conclusion-Le contrôle qualité a confirmé que les spirométries jugées de bonne qualité par l'opérateur étaient acceptables. Toutefois, seuls 53,7% des participants ont eu une spirométrie exploitable, confirmant la difficulté à réaliser l'examen de manière optimale. Le rapport VEMS/CVF était inférieur à 0,7 chez 5,6% des adultes âgés de 30 à 69 ans

Qualité de la spirométrie dans la cohorte Constances et prévalence du trouble ventilatoire obstructif

International audienceINTRODUCTION – The aim of this study was to describe the quality of spirometry tests and to provide a preliminary estimation of airway obstruction (AO) prevalence among the first participants to the CONSTANCES cohort. METHODS – CONSTANCES is an epidemiological population-based cohort composed of a representative sample of voluntary participants selected randomly and aged 18-69 years. Spirometry tests (pre-bronchodilator flow-volume curves) were performed according to standard operating procedures. A sample of spirometry tests, rated as valid by the operator, was checked by two chest physicians. The prevalence of AO (defined by a FEV1/FVC <0.70) was estimated among the 30-69 years old participants included as of 31/01/2014 with valid tests. RESULTS – About 99% of the sampled operator-valid tests were rated as of acceptable quality by the chest physi-cians. During the physical exam, among the 28,315 participants aged 30-69 years, 15,206 (53.7%) had a valid spirometry test. Among them, 5.6% had a FEV1/FVC below 0.7 (men 7.7%, women 3.8%). CONCLUSION – The quality control confirmed that the spirometry tests rated as valid by the operator were of acceptable quality. Nevertheless, only 53.7% of participants achieved a valid spirometry test, highlighting the difficulty to perform optimal spirometry tests. About 5.6 % of adults aged 30-69 years had a pre-bronchodilator FEV1/FVC<0.7.Introduction-Cet article présente une évaluation de la qualité des spirométries et une première estimation de la prévalence du trouble ventilatoire obstructif (TVO) chez les premiers participants à Constances. Méthodes-Constances est une cohorte épidémiologique constituée de volontaires tirés au sort et âgés de 18 à 69 ans à l'inclusion. Les spirométries (courbes débit-volume sans test de bronchodilatation) ont été réalisées selon une procédure standardisée. Leur qualité a été évaluée par deux pneumologues sur un échantillon de courbes jugées exploitables par l'opérateur. La prévalence du TVO a été estimée chez les adultes de 30 à 69 ans recrutés au 31 janvier 2014 et ayant une spirométrie exploitable. Le TVO a été défini par un rapport VEMS/CVF <0,70. Résultats-Les spirométries jugées exploitables par l'opérateur étaient acceptables ou optimales pour 99% de l'échantillon de spirométries étudié. Parmi les 28 315 participants âgés de 30 à 69 ans lors de l'examen de santé, 15 206 (53,7%) avaient une spirométrie acceptable ; 5,6% d'entre eux (hommes : 7,7% ; femmes : 3,8%) avaient un TVO. Conclusion-Le contrôle qualité a confirmé que les spirométries jugées de bonne qualité par l'opérateur étaient acceptables. Toutefois, seuls 53,7% des participants ont eu une spirométrie exploitable, confirmant la difficulté à réaliser l'examen de manière optimale. Le rapport VEMS/CVF était inférieur à 0,7 chez 5,6% des adultes âgés de 30 à 69 ans

Towards Fes - Assisted Grasping Controlled by Residual Muscle Contraction and Movement on Persons with Tetraplegia

International audienceIntroduction/Background: Functional electrical stimulation (FES) can be used on individuals with upper motoneuron dysfunctions to restore grasping functions. To be functional and useful in daily tasks, the patient must be able to pilot the device by means of an interface. We have investigated two techniques that could address the situation of persons with tetraplegia: electromyography (EMG) and inertial measurement units (IMU), respectively measuring muscle activity and limb movements. Material and Method One group of 8 tetraplegic patients (EMG group) was equipped with two pairs of EMG electrodes located on muscles of the upper arm. Selected muscles could be voluntary activated in a comfortable way. Another group of 9 tetraplegic patients (IMU group) was equipped with one IMU (3-axis accelerometer and 3-axis gyroscope) located on the arm. In the EMG group a threshold detection algorithm was used to detect muscle contractions while in IMU group a classification algorithm was used to detect two distinct movements of the limb where the IMU was located. The detection algorithms outputs were used to trigger two postures of a robot hand. The same outputs were also used, for patients where FES of arm muscles lead to visible hand movements, to trigger the contractions of two muscles on their contralateral lower arm.Results: All the patients were able to control muscle contraction or limb movements to trigger different actions. Patients were asked to control the robotic hand, following a randomized sequence of two pre-defined postures. In EMG group the success score was of 95% and 92% in IMU group. Whenever FES was used, patients could activate grasping movements and wrist extension. Three patients were able to perform functional tasks such as grasping and relocating objects.Conclusion: Despite little training, all the patients were able to voluntarily control a robotic hand and, when it was possible to test, their own hand with FES

Assisted grasping in individuals with tetraplegia: improving control through residual muscle contraction and movement

Individuals who sustained a spinal cord injury often lose important motor skills, and cannot perform basic daily living activities. Several assistive technologies, including robotic assistance and functional electrical stimulation, have been developed to restore lost functions. However, designing reliable interfaces to control assistive devices for individuals with C4-C8 complete tetraplegia remains challenging. Although with limited grasping ability, they can often control upper arm movements via residual muscle contraction. In this article, we explore the feasibility of drawing upon these residual functions to pilot two devices, a robotic hand and an electrical stimulator. We studied two modalities, supra-lesional electromyography (EMG), and upper arm inertial sensors (IMU). We interpreted the muscle activity or arm movements of subjects with tetraplegia attempting to control the opening/closing of a robotic hand, and the extension/flexion of their own contralateral hand muscles activated by electrical stimulation. Two groups were recruited: eight subjects issued EMG-based commands; nine other subjects issued IMU-based commands. For each participant, we selected at least two muscles or gestures detectable by our algorithms. Despite little training, all participants could control the robot's gestures or electrical stimulation of their own arm via muscle contraction or limb motion

Towards Fes - Assisted Grasping Controlled by Residual Muscle Contraction and Movement on Persons with Tetraplegia

International audienceIntroduction/Background: Functional electrical stimulation (FES) can be used on individuals with upper motoneuron dysfunctions to restore grasping functions. To be functional and useful in daily tasks, the patient must be able to pilot the device by means of an interface. We have investigated two techniques that could address the situation of persons with tetraplegia: electromyography (EMG) and inertial measurement units (IMU), respectively measuring muscle activity and limb movements. Material and Method One group of 8 tetraplegic patients (EMG group) was equipped with two pairs of EMG electrodes located on muscles of the upper arm. Selected muscles could be voluntary activated in a comfortable way. Another group of 9 tetraplegic patients (IMU group) was equipped with one IMU (3-axis accelerometer and 3-axis gyroscope) located on the arm. In the EMG group a threshold detection algorithm was used to detect muscle contractions while in IMU group a classification algorithm was used to detect two distinct movements of the limb where the IMU was located. The detection algorithms outputs were used to trigger two postures of a robot hand. The same outputs were also used, for patients where FES of arm muscles lead to visible hand movements, to trigger the contractions of two muscles on their contralateral lower arm.Results: All the patients were able to control muscle contraction or limb movements to trigger different actions. Patients were asked to control the robotic hand, following a randomized sequence of two pre-defined postures. In EMG group the success score was of 95% and 92% in IMU group. Whenever FES was used, patients could activate grasping movements and wrist extension. Three patients were able to perform functional tasks such as grasping and relocating objects.Conclusion: Despite little training, all the patients were able to voluntarily control a robotic hand and, when it was possible to test, their own hand with FES