Kinesthetic Feedback During 2DOF Wrist Movements via a Novel MR-Compatible Robot

Erwin, Andrew; O’Malley, Marcia K.; Ress, David; Sergi, Fabrizio

doi:10.1109/tnsre.2016.2634585

Cited by 34 publications

(32 citation statements)

References 39 publications

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“…7a and 7b. The motion range of wrist joint is able to cover the daily living motion range of human wrist (wrist flexion/extension: 115˚; and wrist adduction/abduction: 70˚) [37] . It enables the proposed soft exoskeleton to achieve the similar motion as the previous rigid exoskeleton [38,39] .…”

Section: Humanoid Platform Motion Experimentsmentioning

confidence: 99%

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

Yang

et al. 2020

J Bionic Eng

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Exoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia. Unfortunately, poor human-machine physiological coupling causes unexpected damage to human of muscles and joints. Moreover, inferior humanoid kinematics control would restrict human natural kinematics. Failing to deal with these problems results in bottlenecks and hinders its application. In this paper, the simplified muscle model and muscle-liked kinematics model were proposed, based on which a soft wrist exoskeleton was established to realize natural human interaction. Firstly, we simplified the redundant muscular system related to the wrist joint from ten muscles to four, so as to realize the human-robot physiological coupling. Then, according to the above human-like musculoskeletal model, the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the wrist. The results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3% and 35.6%, respectively. Additionally, the humanoid motion trajectories similarity of the robot reached 91.5%. Stroke patients could recover 90.3% of natural motion ability to satisfy for most daily activities. This work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.

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Section: Humanoid Platform Motion Experimentsmentioning

confidence: 99%

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

Yang

et al. 2020

J Bionic Eng

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“…The MR-SW is a 1-Degree of Freedom (DOF) robot capable of applying controlled rotations of the hand about the the wrist Flexion/Extension (FE) axis in a range of θ FE = [−45; 45] deg. It is actuated by an ultrasonic piezoelectric motor (EN60 motor, Shinsei Motor Inc., Japan) which provides 1 Nm peak torque and 900 deg/s peak velocity, previously utilized for several applications in MR-compatible robotics [64][65][66] . To fulfill the design specifications, we have employed a capstan transmission with 3:1 gear ratio to transfer motion from the motor to the end effector.…”

Section: Mr-stretchwrist Devicementioning

confidence: 99%

Measurement of stretch-evoked brainstem function using fMRI

Zonnino

Farrens

Ress

et al. 2020

Preprint

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Knowledge on the organization of motor function in the reticulospinal tract (RST) is limited by the lack of methods for measuring RST function in humans. Behavioral studies suggest the involvement of the RST in long latency responses (LLRs). LLRs, elicited by precisely controlled perturbations, can therefore act as a viable paradigm to measure motor-related RST activity using functional Magnetic Resonance Imaging (fMRI). Here we present StretchfMRI, a novel technique developed to study RST function associated with LLRs. StretchfMRI combines robotic perturbations with electromyography and fMRI to simultaneously quantify muscular and neural activity during stretchevoked LLRs without loss of reliability. Using StretchfMRI, we established the muscle-specific organization of LLR activity in the brainstem. The observed organization is partially consistent with animal models, with activity primarily in the ipsilateral medulla for flexors and in the contralateral pons for extensors, but also include other areas, such as the midbrain and bilateral pontomedullary contributions. 2/25reference, the mean timeseries of the EMG recorded during Exp 1 and processed using three different filtering pipelines is shown in Fig. 2A. Reliability of stretch-evoked EMG during fMRIWe validated the stretch-evoked EMG collected during fMRI by quantifying agreement between measurements collected inside and outside the MR scanner (see Online Methods). We used two analyses: one based on the mean LLR responses averaged across multiple repetitions for each set of conditions (group-level analysis), and one based on the analysis of EMG measurements of individual perturbations (perturbation-specific analysis). Group level resultsGroup-level analysis was performed using the Bland-Altman (BA) method 13,14 , whose plots are shown in Fig. 2B for the comparisons OUT 2 vs. OUT 1 and IN 1 vs. OUT 1 , for different signal filtering pipelines. The values of bias, positive and negative limits of agreement (LoA), with the respective confidence intervals are reported in Tab. S8 in the supplementary materials.Based on the BA analysis, Adaptive Noise Cancellation (ANC) enables reliable estimation of LLR amplitude during fMRI sessions. In fact, the agreement between LLR amplitudes measured inside and outside the MRI is not worse than the agreement between two OUT sessions. Specifically, the bias estimated for the IN 1 vs. OUT 1 comparison was not significantly different from the one estimated for the OUT 2 vs. OUT 1 comparison (z(72)=0.56, p = 0.57 for stretch, z(72) = 1.70 , p = 0.09 for shortening). Additionally, the 95% confidence intervals of the bias estimated for both comparisons, in both muscle stimulus directions, intersect the zero value indicating that the measurement is unbiased (Fig. 3A). Finally, the overlap between the range defined by the LoA for two repeated OUT experiments and the range of LoA for IN vs. OUT experiment, quantified by the Jaccard coefficient, approached perfect overlap (mean ± s.e.m. J = 0.843 ± 0.001 for stretch, J = 0.783 ± 0.001...

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“…The MR-SW is a 1-Degree of Freedom (DOF) robot capable of applying controlled movement to the wrist Flexion/Extension (FE) axis in a range of θ F E = [−45; 45] deg. It is actuated by a ultrasonic piezoelectric motor (EN60 motor, Shinsei Motor Inc., Japan) which provides 1 Nm peak torque and 900 deg/s peak velocity, previously utilized for several MR-compatible robotic applications [24]- [26]. To fulfill the design specifications, we have employed a capstan transmission with 3:1 gear ratio to transfer motion from the motor to the end effector.…”

Section: B Design Of the Mr-stretchwristmentioning

confidence: 99%

StretchfMRI: a new technique to quantify the contribution of the reticular formation to long-latency responses via fMRI

Zonnino

Farrens

Ress

et al. 2019

Preprint

Self Cite

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Increased reticulospinal (RS) function has been observed to cause both positive and negative outcomes in the recovery of motor function after corticospinal lesions such as stroke. Current knowledge of RF function is limited by the lack of accurate, noninvasive methods for measuring RS function. Recent studies suggest that the RS tract may be involved in processing and generating Long Latency Responses (LLRs). LLRs, elicited by applying precisely controlled perturbations, can act as a reliable stimulus to measure LLR-related brainstem function using fMRI with high signal-to-noise ratio.In this paper, we present StretchfMRI, a new technique that enables simultaneous recording of neural and muscular activity during motor responses conditioned by velocity-controlled robotic perturbations, which allows for direct investigation of the neural correlates of LLRs using fMRI.Via preliminary validation experiments, we demonstrate that our technique can reliably elicit and identify LLRs in two wrist muscles-FCR and ECU. Moreover, via a single-subject pilot experiment, we show that the occurrence of an LLR in a flexor and extensor muscle modulates neural activity in distinct regions of the brainstem. The observed somatotopic organization is in agreement with the double reciprocal model of RS function observed in animal models, in which the right medullary and left pontine reticular formation are responsible for control of the motor activity in flexors and extensors, respectively.

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Kinesthetic Feedback During 2DOF Wrist Movements via a Novel MR-Compatible Robot

Cited by 34 publications

References 39 publications

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

Measurement of stretch-evoked brainstem function using fMRI

StretchfMRI: a new technique to quantify the contribution of the reticular formation to long-latency responses via fMRI

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