This study uses frequency-domain techniques and stabilogram diffusion analysis (SDA) to investigate the effect of vibrotactile feedback during continuous multidirectional perturbations of a support platform. Eight subjects with vestibular deficits were subjected to two-axis pseudorandom surface platform motion while donning a multiaxis vibrotactile feedback device that mapped body tilt estimates onto their torsos via a 3-row by 16-column array of tactile vibrators (tactors). Four tactor display configurations with spatial resolutions ranging between 22.5 degrees and 90 degrees, in addition to the tactors off configuration, were evaluated. Power spectral density functions of body sway in the anterior-posterior (A/P) and medial-lateral (M/L) directions, and transfer functions between platform motion and body sway, were computed at frequencies ranging from 0.0178 to 3.56 Hz. Cross-spectral analysis revealed that the A/P responses were not significantly driven by M/L inputs, and vice versa, thus supporting the notion of independent A/P and M/L postural control. Vibrotactile feedback significantly decreased A/P and M/L spectral power, decreased transfer function gains up to a frequency of 1.8 and 0.6 Hz in the A/P and M/L directions, respectively, and increased phase leads above 0.3 Hz. SDA showed significantly decreased transition time for both A/P and M/L tilts, and decreased transition displacement and short-term diffusion coefficients for A/P tilt. However, the spatial resolution of the tactor displays did not affect subjects' performance, thereby supporting the use of a lower spatial resolution display in future device designs.
This study uses frequency domain techniques to demonstrate the effect of vibrotactile feedback during continuous multidirectional perturbations of a support platform. Eight subjects with bilateral or unilateral vestibular loss were subjected to two-axis pseudo random surface platform motion while donning a multi-axis feedback balance aid that mapped body tilt estimates onto their trunks via a 3-row by 16-column array of tactile vibrators (tactors). Four tactor display configurations with spatial resolutions ranging between 22.5 degrees and 90 degrees , in addition to the tactors off configuration, were evaluated. Power spectral density (PSD) functions of body sway in the anterior-posterior (A/P) and medial-lateral (M/L) directions were computed at frequencies ranging from 0.0178 Hz to 3.56 Hz. Transfer functions between the platform motion and body sway were also computed. Vibrotactile feedback produced significant decreases in A/P and M/L spectral power, decreased transfer function gains up to a frequency of 1.8 Hz and 0.6 Hz in the A/P and M/L directions, respectively, and increased phase leads above 0.3 Hz. The lack of a consistent difference among tactor configurations argue in favor of the simplest 4-column configuration during multidirectional continuous surface perturbations.
Visual, vibrotactile, and auditory cues have proven successful in numerous applications to supplement or in some cases completely replace missing sensory information. Sensory substitution using vibrotactile stimulation has been effective in improving postural stability during stationary tasks and tasks involving perturbed stance. The challenge increases, however, when designing a wearable device that provides meaningful information during a dynamic task such as walking. Techniques that directly apply the feedback strategies effective in stance (trunk tilt) to walking have largely proven ineffective (excluding heel-to-toe walking, which is essentially a series of standing balance tasks). We have demonstrated a device for correcting vestibulopathic gait using a novel feedback methodology that was co-developed with physical therapists specializing in balance rehabilitation. The device supplies vibrotactile cues based on factors during walking that are considered important by physical therapists, including gait velocity, stride length, and gaze. The device consists of three independent units, each consisting of an inertial measurement unit (IMU), vibrotactile display, and microprocessor. Head tilt (which approximates eye gaze), trunk tilt, stride length, and velocity are estimated by the IMUs and displayed to the patient in the form of vibrotactile cues on the head, trunk, and tibia, respectively. Algorithms were developed to estimate stride length and gait velocity in real time from measured heel-strike and toe-off events. Feedback of the head pitch angle is provided continuously to the subject, while gait velocity and stride length feedback are provided during heel strike events only. Preliminary results demonstrate that healthy subjects can interpret this feedback to correct their head pitch and adjust their stride length and gait velocity.
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