Author: "David Guiraud" / Topic: 02 engineering and technology - Searchworks@Jio Institute Digital Library Search Results

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1. Stability of flexible thin-film metallization stimulation electrodes: analysis of explants after first-in-human study and improvement of in vivo performance

Author: Pawel Maciejasz, David Andreu, Ken Yoshida, Xavier Navarro, Silvestro Micera, Stanisa Raspopovic, Paul Čvančara, Tim Boretius, Victor Lopezalvarez, Eduardo Fernandez, Giuseppe Granata, Thomas Stieglitz, Paolo Maria Rossini, David Guiraud, Jean-Louis Divoux, Winnie Jensen, Francesco Maria Petrini, Bernstein Center Freiburg (BCF), Albert-Ludwigs-Universität Freiburg, Department of Microsystems Engineering [Freiburg] (IMTEK), University of Freiburg [Freiburg], Universitat Autònoma de Barcelona (UAB), Otto Bock Healthcare GmbH, Contrôle Artificiel de Mouvements et de Neuroprothèses Intuitives (CAMIN), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Eidgenössische Technische Hochschule - Swiss Federal Institute of Technology [Zürich] (ETH Zürich), Fondation Bertarelli Chair inTranslational Neuroscience and Neuroengineering [Lausanne], Ecole Polytechnique Fédérale de Lausanne (EPFL)-Fondation Bertarelli, Scuela Santa Anna (SSSA), Scuola Universitaria Superiore Sant'Anna [Pisa] (SSSUP), Fondazione Policlinico Universitario Agostino Gemelli IRCCS, Università cattolica del Sacro Cuore [Piacenza e Cremona] (Unicatt), Perdue University, Center for Sensory-Motor Interaction (SMI), Aalborg University [Denmark] (AAU), AXONIC - OBELIA dept, MXM-Laboratoires de Techologies Médicales, Center for Neuroprosthetics and Institute of Bioengineering, EPFL.-Fondation Bertarelli, and Fondazione 'Policlinico Universitario A. Gemelli' [Rome]
Subjects: Thin-film, Materials science, Electrode, [SDV.NEU.NB]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Neurobiology, 0206 medical engineering, Biomedical Engineering, 02 engineering and technology, polyimide, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, Cellular and Molecular Neuroscience, chemistry.chemical_compound, 0302 clinical medicine, Amputees, Electric Impedance, [SDV.MHEP.PHY]Life Sciences [q-bio]/Human health and pathology/Tissues and Organs [q-bio.TO], Silicon carbide, Animals, Humans, neural interfaces, Thin film, Electrodes, Delamination, electrode, stability, thin-film, Prostheses and Implants, 020601 biomedical engineering, Electric Stimulation, Electrodes, Implanted, Microelectrode, chemistry, Implant, Neural interfaces, Polyimide, Stability, Microelectrodes, Failure mode and effects analysis, Layer (electronics), 030217 neurology & neurosurgery, Biomedical engineering
Abstract: Objective Micro-fabricated neural interfaces based on polyimide (PI) are achieving increasing importance in translational research. The ability to produce well-defined micro-structures with properties that include chemical inertness, mechanical flexibility and low water uptake are key advantages for these devices. Approach This paper reports the development of the transverse intrafascicular multichannel electrode (TIME) used to deliver intraneural sensory feedback to an upper-limb amputee in combination with a sensorized hand prosthesis. A failure mode analysis on the explanted devices was performed after a first-in-human study limited to 30 d. Main results About 90% of the stimulation contact sites of the TIMEs maintained electrical functionality and stability during the full implant period. However, optical analysis post-explantation revealed that 62.5% of the stimulation contacts showed signs of delamination at the metallization-PI interface. Such damage likely occurred due to handling during explantation and subsequent analysis, since a significant change in impedance was not observed in vivo. Nevertheless, whereas device integrity is mandatory for long-term functionality in chronic implantation, measures to increase the bonding strength of the metallization-PI interface deserve further investigation. We report here that silicon carbide (SiC) is an effective adhesion-promoting layer resisting heavy electrical stimulation conditions within a rodent animal trial. Optical analysis of the new electrodes revealed that the metallization remained unaltered after delivering over 14 million pulses in vivo without signs of delamination at the metallization-PI interface. Significance Failure mode analysis guided implant stability optimization. Reliable adhesion of thin-film metallization to substrate has been proven using SiC, improving the potential transfer of micro-fabricated neural electrodes for chronic clinical applications., Journal of Neural Engineering, 17 (4), ISSN:1741-2560, ISSN:1741-2552
Published: 2020

2. Measuring the electrophysiological effects of direct electrical stimulation after awake brain surgery

Author: Hugues Duffau, David Guiraud, Emmanuel Mandonnet, Anthony Boyer, Marion Vincent, François Bonnetblanc, Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Hôpital Lariboisière, Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)-Hôpital Lariboisière-Université Paris Diderot - Paris 7 (UPD7), Hôpital Gui de Chauliac, Université Montpellier 1 (UM1)-Centre Hospitalier Régional Universitaire [Montpellier] (CHRU Montpellier), Contrôle Artificiel de Mouvements et de Neuroprothèses Intuitives (CAMIN), Inria Sophia Antipolis - Méditerranée (CRISAM), Hôpital Lariboisière-Fernand-Widal [APHP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Hôpital Gui de Chauliac [CHU Montpellier], and Centre Hospitalier Régional Universitaire [Montpellier] (CHRU Montpellier)
Subjects: [SDV.NEU.NB]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Neurobiology, 0206 medical engineering, Tumor resection, Biomedical Engineering, Action Potentials, Stimulation, 02 engineering and technology, Brain mapping, Neurosurgical Procedures, [SPI.AUTO]Engineering Sciences [physics]/Automatic, White matter, Stereotaxic Techniques, 03 medical and health sciences, Cellular and Molecular Neuroscience, 0302 clinical medicine, Cortex (anatomy), medicine, [SDV.MHEP.PHY]Life Sciences [q-bio]/Human health and pathology/Tissues and Organs [q-bio.TO], Humans, Evoked potential, Wakefulness, Electrocorticography, ComputingMilieux_MISCELLANEOUS, Brain Mapping, medicine.diagnostic_test, business.industry, Brain, 020601 biomedical engineering, Electrophysiology, medicine.anatomical_structure, business, Neuroscience, 030217 neurology & neurosurgery
Abstract: International audience; Objective: Direct electrical stimulation (DES) at 60 Hz is used to perform real-time functional mapping of the brain, and guide tumour resection during awake neurosurgery. Nonetheless, the electrophysiological effects of DES remain largely unknown, both locally and remotely.Approach: In this study, we lowered the DES frequency to 1-10 Hz and we used a differential recording mode of electro-corticographic (ECoG) signals to improve the focality with a simple algorithm to remove the artefacts due to the response of the acquisition chain.Main results: Doing so, we were able to observe different components in the evoked potentials triggered by simulating the cortex or the subcortical white matter pathways near the recording electrodes and by stimulating the cortex remotely from the recording site. More particularly, P0 and N1 components were repeatedly observed on raw ECoG signals without the need to average the data.Significance: This new methodology is important to probe the electrophysiological states and the connectivity of the brain in vivo and in real time, namely to perform electrophysiological brain mapping on human patients operated in the neurosurgical room and to better understand the electrophysiological spreading of DES.
Published: 2019

3. Breathing detection from tracheal sounds in both temporal and frequency domains in the context of phrenic nerve stimulation

Author: Christine Azevedo, Thomas Similowski, David Guiraud, Xinyue Lu, Serge Renaux, Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Neuroresp, CHU Pitié-Salpêtrière [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Sorbonne Université (SU), Neurophysiologie Respiratoire Expérimentale et Clinique (UMRS 1158), Institut National de la Santé et de la Recherche Médicale (INSERM)-Sorbonne Université (SU), IEEE, LU, Xinyue, Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Sorbonne Université (SU)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), and Neurophysiologie Respiratoire Expérimentale et Clinique
Subjects: medicine.medical_specialty, Phrenic nerve stimulation, medicine.medical_treatment, [SDV.NEU.NB]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Neurobiology, 0206 medical engineering, Stimulation, Context (language use), 02 engineering and technology, 030204 cardiovascular system & hematology, Audiology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, medicine, Humans, Tetraplegia, ComputingMilieux_MISCELLANEOUS, Monitoring, Physiologic, [SPI.SIGNAL] Engineering Sciences [physics]/Signal and Image processing, Mechanical ventilation, [SPI.ACOU]Engineering Sciences [physics]/Acoustics [physics.class-ph], [SPI.ACOU] Engineering Sciences [physics]/Acoustics [physics.class-ph], business.industry, Respiration, [SDV.NEU.NB] Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Neurobiology, Sleep apnea, Hypoventilation, medicine.disease, Respiration, Artificial, Sleep Apnea, Central, 020601 biomedical engineering, Electric Stimulation, [SPI.TRON] Engineering Sciences [physics]/Electronics, 3. Good health, [SPI.TRON]Engineering Sciences [physics]/Electronics, Phrenic Nerve, Trachea, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Breathing, business, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing
Abstract: International audience; Electrical stimulation of the phrenic nerves via implanted devices allows to counteract some disadvantages of mechanical ventilation in patients with high tetraplegia or Ondine's syndrome. Existing devices do not allow to monitor breathing or to adapt the electroventilation to patients' actual needs. A reliable breathing monitor with an inbuilt alarm function would improve patient safety. In our study, a real-time acoustic breathing detection method is proposed as a possible solution to improve implanted phrenic stimulation. A new algorithm to process tracheal sounds has been developed. It combines breathing detection in both temporal and frequency domains. The algorithm has been applied on recordings from 18 healthy participants. The obtained average sensitivity, speci-ficity and accuracy of the detection are: 99.31%, 96.84% and 98.02%, respectively. These preliminary results show a first positive proof of the interest of such an approach. Additional experiments are needed, including longer recordings from individuals with tetraplegia or Ondine Syndrome in various environments to go further in the validation.
Published: 2019

4. Relevance of selective neural stimulation with a multicontact cuff electrode using multicriteria analysis

Author: Mélissa Dali, Olivier Rossel, Lucie William, David Guiraud, Wafa Tigra, Christine Azevedo, Hubert Taillades, Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Centre Hospitalier Régional Universitaire [Montpellier] (CHRU Montpellier), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Male, Muscle Physiology, Muscle Functions, Physiology, [SDV.NEU.NB]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Neurobiology, Action Potentials, 02 engineering and technology, Nervous System, law.invention, 0302 clinical medicine, Nerve Fibers, law, Animal Cells, Medicine and Health Sciences, Electrochemistry, Anodes, Mammals, Neurons, Multidisciplinary, Nerves, Eukaryota, Animal Models, Equipment Design, Sciatic Nerve, Cathode, Transverse plane, Chemistry, Experimental Organism Systems, Standard electrode potential, Electrode, Cuff, Vertebrates, Physical Sciences, Leporids, Medicine, Engineering and Technology, Rabbits, Anatomy, Cellular Types, Research Article, Muscle Contraction, Materials science, Cathodes, Science, 0206 medical engineering, Surgical and Invasive Medical Procedures, Research and Analysis Methods, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, Sciatic Nerves, Robustness (computer science), Control theory, [SDV.MHEP.PHY]Life Sciences [q-bio]/Human health and pathology/Tissues and Organs [q-bio.TO], Functional electrical stimulation, Animals, Muscle, Skeletal, Electrodes, Functional Electrical Stimulation, Electrode Potentials, Organisms, Biology and Life Sciences, Cell Biology, 020601 biomedical engineering, Electric Stimulation, Anode, Cellular Neuroscience, Amniotes, Animal Studies, Electronics, 030217 neurology & neurosurgery, Neuroscience
Abstract: International audience; Neural multicontact cuff electrodes have the potential to activate selectively different groups of muscles and offer more possibilities of electrical configurations compared to whole ring cuffs. Several previous studies explored multicontact electrodes with a limited set of configu- rations which were sorted using a selectivity index only. The objective of the present study is to classify a larger number of configurations, i.e. the way the current is spread over the 12 contacts of the cuff electrode, using additional criteria such as robustness (i.e. ability to maintain selectivity within a range of current amplitudes) and efficiency (i.e. electrical con- sumption of the considered multipolar configuration versus the electrical consumption of the reference whole-ring configuration). Experiments were performed on the sciatic nerve of 4 rabbits. Results indicated that the optimal configuration depends on the weights applied to selectivity, robustness and efficiency criteria. Tripolar transverse is the most robust configu- ration and the less efficient, whereas tripolar longitudinal ring is efficient but not robust. New configurations issued from a previous theoretical study we carried out such as steering cur- rent ring appears as good compromise between the 3 criteria.
Published: 2019

5. On the Reliability of Chronically Implanted Thin-Film Electrodes in Human Arm Nerves for Neuroprosthetic Applications

Author: Paul Čvančara, Matthias Mueller, Stanisa Raspopovic, Ken Yoshida, Giuseppe Granata, Eduardo Fernandez, Paolo Maria Rossini, Jean-Louis Divoux, Ivo Strauss, Thomas Stieglitz, Silvestro Micera, Giacomo Valle, Francesco Maria Petrini, Massimo Barbaro, Arthur Hiairrassary, Winnie Jensen, Thomas Guiho, and David Guiraud
Subjects: Permanent implant, Materials science, Human arm, 0206 medical engineering, 02 engineering and technology, Status post, 020601 biomedical engineering, 03 medical and health sciences, 0302 clinical medicine, Reliability (semiconductor), Electrode, Thin film electrode, 030217 neurology & neurosurgery, Direct stimulation, Biomedical engineering
Abstract: Direct stimulation of peripheral nerves can successfully provide sensory feedback to amputees while using hand prostheses. Recent clinical studies have addressed this important limitation of current prostheses solutions using different implantable electrode concepts. Longevity of the electrodes is key to success. We have improved the long-term stability of the polyimide-based transverse intrafascicular multichannel electrode (TIME) that showed promising performance in clinical trials by integration of silicon carbide adhesion layers. The TIMEs were implanted in the median and ulnar nerves of three trans-radial amputees for up to six months. Here, we present the characterization of the electrical properties of the thin-film metallization as well as material status post explantationem for the first time. The TIMEs showed reliable performance in terms of eliciting sensation and stayed within the electrochemical safe limits maintaining a good working range with respect to amplitude modulation. After termination of the trials and explantation of the probes, no signs of corrosion or morphological change to the thin-film metallization was observed by means of electrochemical and optical analysis. Damage to the metallization was assigned exclusively to mechanical impacts during explantation and handling. The results indicate that thin-film metallization on polymer substrates is applicable in permanent implant system.
Published: 2019

6. Stability of Thin-Film Metallization in Flexible Stimulation Electrodes: Analysis and Improvement of in vivo Performance

Author: Giuseppe Granata, Victor Lopezalvarez, Jean-Louis Divoux, Pawel Maciejasz, Ken Yoshida, Francesco Maria Petrini, Stanisa Raspopovic, David Guiraud, Winnie Jensen, Tim Boretius, Paolo Maria Rossini, Thomas Stieglitz, David Andreu, Paul Čvančara, Xavier Navarro, Eduardo Fernandez, and Silvestro Micera
Subjects: Materials science, 0206 medical engineering, Delamination, 02 engineering and technology, Adhesion, Substrate (electronics), 021001 nanoscience & nanotechnology, 020601 biomedical engineering, chemistry.chemical_compound, chemistry, Electrode, Silicon carbide, Thin film, 0210 nano-technology, Layer (electronics), Polyimide, Biomedical engineering
Abstract: Micro-fabricated neural interfaces based on polyimide (PI) are achieving increasing importance in translational research. The ability to produce well-defined micro-structures with properties that include chemical inertness, mechanical flexibility and low water uptake are key advantages for these devices. This paper reports the development of the transverse intrafascicular multichannel electrode (TIME) used to deliver intraneural sensory feedback to an upper-limb amputee in combination with a sensorized hand prosthesis. A first-in-human study limited to 30 days was performed. About 90 % of the stimulation contact sites of the TIMEs maintained electrical functionality and stability during the full implant period. However, optical analysis post-explantation revealed that 62.5 % of the stimulation contacts showed signs of mechanical damage at the metallization-PI interface. Such damage likely occurred due to handling during explantation and subsequent analysis, since a significant change in impedance was not observed in vivo. Nevertheless, whereas device integrity is mandatory for long-term functionality in chronic implantation, measures to increase the bonding strength of the metallization-PI interface deserve further investigation. We report here that silicon carbide (SiC) is an effective adhesion-promoting layer resisting heavy electrical stimulation conditions in vivo. Optical analysis of the new electrodes revealed that the metallization remained unaltered after delivering over 14 million pulses in vivo without signs of delamination at the metallization-PI interface. Reliable adhesion of thin-film metallization to substrate has been proven using SiC, improving the potential transfer of micro-fabricated neural electrodes for chronic clinical applications.
Published: 2019

7. A phantom axon setup for validating models of action potential recordings

Author: Serge Bernard, Olivier Rossel, Guy Cathébras, David Guiraud, Fabien Soulier, Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Smart Integrated Electronic Systems (SmartIES), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Computer science, Acoustics, 0206 medical engineering, Biomedical Engineering, Action Potentials, 02 engineering and technology, Adaptive arithmetic coding, Mixture of geometric distributions, Imaging phantom, 03 medical and health sciences, 0302 clinical medicine, Electroneurogram, medicine, Electronic engineering, In vivo measurements, Expectation–maximization algorithm, [INFO]Computer Science [cs], Computer Simulation, Axon, Electrodes, Monitoring, Physiologic, Node of Ranvier, Action potential amplitude, Equipment Design, 020601 biomedical engineering, Axons, Action (physics), Computer Science Applications, medicine.anatomical_structure, Amplitude, nervous system, Lossless image compression, 030217 neurology & neurosurgery
Abstract: Electrode designs and strategies for electroneurogram recordings are often tested first by computer simulations and then by animal models, but they are rarely implanted for long-term evaluation in humans. The models show that the amplitude of the potential at the surface of an axon is higher in front of the nodes of Ranvier than at the internodes; however, this has not been investigated through in vivo measurements. An original experimental method is presented to emulate a single fiber action potential in an infinite conductive volume, allowing the potential of an axon to be recorded at both the nodes of Ranvier and the internodes, for a wide range of electrode-to-fiber radial distances. The paper particularly investigates the differences in the action potential amplitude along the longitudinal axis of an axon. At a short radial distance, the action potential amplitude measured in front of a node of Ranvier is two times larger than in the middle of two nodes. Moreover, farther from the phantom axon, the measured action potential amplitude is almost constant along the longitudinal axis. The results of this new method confirm the computer simulations, with a correlation of 97.6 %.
Published: 2016

8. Investigation of the efficiency of the shape of chopped pulses using earthworm model

Author: David Guiraud, Pawel Maciejasz, Mélissa Dali, Olivier Rossel, Thomas Guiho, Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), AXONIC - OBELIA dept, MXM-Laboratoires de Techologies Médicales, and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Materials science, genetic structures, [SDV.NEU.NB]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Neurobiology, 0206 medical engineering, Stimulus pulse, Phase (waves), 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, Optics, hemic and lymphatic diseases, Tissue damage, [SDV.MHEP.PHY]Life Sciences [q-bio]/Human health and pathology/Tissues and Organs [q-bio.TO], Animals, Waveform, Oligochaeta, Pulse (signal processing), business.industry, Giant fiber, equipment and supplies, 020601 biomedical engineering, Electric Stimulation, eye diseases, Rectangular pulse, Electrode, sense organs, business, 030217 neurology & neurosurgery
Abstract: International audience; In neural electrical stimulation, limiting the charge delivered during a stimulus pulse is essential to avoid nerve tissue damage and to save power. Previous experimental and modeling studies indicated that waveforms such as non-rectangular continuous pulses or rectangular chopped pulse were able to improve stimulation efficiency. The goal of this study is to evaluate if non-rectangular chopped pulses such as quarter sine and ramp are more charge efficient than rectangular chopped pulse. We performed in vivo study on 17 lumbricus terrestris and compared the charge per stimulating phase needed to activate lateral giant fibers (LGF) and medial giant fiber (MGF) using chopped non-rectangular pulses and rectangular pulse, varying stimulation duration parameters. Results indicated that non rectangular chopped pulses activated MGF and LGF with less charge than rectangular chopped pulses. For MGF (respectively LGF), the gain of charge was up to 33.9\% (resp. 17.8\%) using chopped ramp, and up to 22.8\% (resp. 18.1\%) using chopped quarter sine.
Published: 2018

9. Model based optimal multipolar stimulation without a priori knowledge of nerve structure: application to vagus nerve stimulation

Author: Mélissa Dali, Alfredo Hernandez, David Guiraud, Christine Henry, Laure Laporte, Albert Hagège, Olivier Rossel, David Andreu, Maureen Clerc, Eloi Marijon, Jeremy Laforet, Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Sorin Group [Clamart], Laboratoire Traitement du Signal et de l'Image (LTSI), Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National de la Santé et de la Recherche Médicale (INSERM), Paris-Centre de Recherche Cardiovasculaire (PARCC - UMR-S U970), Université Paris Descartes - Paris 5 (UPD5)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Hôpital Européen Georges Pompidou [APHP] (HEGP), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Hôpitaux Universitaires Paris Ouest - Hôpitaux Universitaires Île de France Ouest (HUPO)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Hôpitaux Universitaires Paris Ouest - Hôpitaux Universitaires Île de France Ouest (HUPO), Therapie Cellulaire en Pathologie Cardio-Vasculaire (UMR_S 633), Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Paris Descartes - Paris 5 (UPD5), Computational Imaging of the Central Nervous System (ATHENA), Inria Sophia Antipolis - Méditerranée (CRISAM), LivaNova France SAS, Investments of the future, INTENSE project, BPIFrance, Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Université de Rennes (UR)-Institut National de la Santé et de la Recherche Médicale (INSERM), Hôpital Européen Georges Pompidou [APHP] (HEGP), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Hôpitaux Universitaires Paris Ouest - Hôpitaux Universitaires Île de France Ouest (HUPO)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Hôpitaux Universitaires Paris Ouest - Hôpitaux Universitaires Île de France Ouest (HUPO)-Université Paris Descartes - Paris 5 (UPD5)-Institut National de la Santé et de la Recherche Médicale (INSERM), Université Paris Descartes - Paris 5 (UPD5)-Institut National de la Santé et de la Recherche Médicale (INSERM), Université Paris Descartes - Paris 5 (UPD5)-Hôpital Européen Georges Pompidou [APHP] (HEGP), and Hôpitaux Universitaires Paris Ouest - Hôpitaux Universitaires Île de France Ouest (HUPO)-Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)-Hôpitaux Universitaires Paris Ouest - Hôpitaux Universitaires Île de France Ouest (HUPO)-Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: Vagus Nerve Stimulation, Computer science, medicine.medical_treatment, Models, Neurological, 0206 medical engineering, Biomedical Engineering, Stimulation, Context (language use), 02 engineering and technology, 03 medical and health sciences, Cellular and Molecular Neuroscience, 0302 clinical medicine, medicine, Animals, Axon, Heart Failure, Sheep, Vagus Nerve, 020601 biomedical engineering, Electrodes, Implanted, Peripheral, medicine.anatomical_structure, Optimization methods, A priori and a posteriori, Nerve structure, [SDV.IB]Life Sciences [q-bio]/Bioengineering, 030217 neurology & neurosurgery, Vagus nerve stimulation, Biomedical engineering
Abstract: International audience; Objective - Multipolar cuff electrode can selectively stimulate areas of peripheral nerves and therefore enable to control independent functions. However, the branching and fascicularization are known for a limited set of nerves and the specific organization remains subject-dependent. This paper presents general modeling and optimization methods in the context of multipolar stimulation using a cuff electrode without a priori knowledge of the nerve structure. Vagus nerve stimulation experiments based on the optimization results were then investigated.Approach - The model consisted of two independent components: a lead field matrix representing the transfer function from the applied current to the extracellular voltage present on the nodes of Ranvier along each axon, and a linear activation model. The optimization process consisted in finding the best current repartition (ratios) to reach activation of a targeted area depending on three criteria: selectivity, efficiency and robustness.Main results - The results showed that state-of-the-art configurations (tripolar transverse, tripolar longitudinal) were part of the optimized solutions but new ones could emerge depending on the trade-off between the three criteria and the targeted area. Besides, the choice of appropriate current ratios was more important than the choice of the stimulation amplitude for a stimulation without a priori knowledge of the nerve structure. We successfully assessed the solutions in vivo to selectively induce a decrease in cardiac rhythm through vagus nerve stimulation while limiting side effects. Compared to the standard whole ring configuration, a selective solution found by simulation provided on average 2.6 less adverse effects.Significance - The preliminary results showed the rightness of the simulation, using a generic nerve geometry. It suggested that this approach will have broader applications that would benefit from multicontact cuff electrodes to elicit selective responses. In the context of the vagus nerve stimulation for heart failure therapy, we show that the simulation results were confirmed and improved the therapy while decreasing the side effects.
Published: 2018

10. Numerical simulation of multipolar configuration and prepulse technique to obtain spatially reverse recruitment order

Author: David Guiraud, Olivier Rossel, Mélissa Dali, Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Materials science, 0206 medical engineering, Models, Neurological, Context (language use), Stimulation, 02 engineering and technology, 03 medical and health sciences, 0302 clinical medicine, Nerve Fibers, Functional electrical stimulation, Animals, Computer Simulation, Fiber, Peripheral Nerves, Prepulse inhibition, Mammals, Computer simulation, Prostheses and Implants, 020601 biomedical engineering, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Electric Stimulation, Order (biology), Electrode, [SDV.NEU]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC], 030217 neurology & neurosurgery, Biomedical engineering
Abstract: International audience; In the context of functional electrical stimulation of peripheral nerves, the control of a specific motor or sensory functions may need selective stimulation to target the desired effect without others. In implanted stimulation, spatial selectiv-ity is obtained using multipolar CUFF electrodes with specific spread of the current over each contact. Furthermore, electrical stimulation recruits large fibers before small ones, whereas the targeted function could be elicited by a specific fiber type i.e. fiber diameter. In our work, numerical simulations were used to investigate the combination of multipolar configuration and prepulses, in order to obtain spatially reverse recruitment order. Multipolar stimulation provides efficient spatial selectivity, whereas sub-threshold prepulses were used to reverse recruitment order with a reasonable increase of the injected charges. We compared several selective configurations combined with prepulses to show that some are able to guarantee both the spatial selectivity while one fiber's diameter can be preferentially activated.
Published: 2017

11. Reliability of parylene-based multi-electrode arrays chronically implanted in adult rat brains, and evidence of electrical stimulation on contact impedance

Author: Fabien Sauter-Starace, Christine Henry, Sandrine Maubert, David Ratel, Napoleon Torres-Martinez, Christophe Gaude, David Guiraud, Celine Cretallaz, Jean-Louis Divoux, Guiraud, David, Commissariat à l'énergie atomique et aux énergies alternatives - Laboratoire d'Electronique et de Technologie de l'Information (CEA-LETI), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA), Clinatec - Centre de recherche biomédicale Edmond J.Safra (SCLIN), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Centre Hospitalier Universitaire [Grenoble] (CHU)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Centre de Recherches du Service de Santé des Armées (CRSSA), Service de Santé des Armées, AXONIC - OBELIA dept, MXM-Laboratoires de Techologies Médicales, Sorin Group [Clamart], Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Centre Hospitalier Universitaire [Grenoble] (CHU)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Grenoble Alpes (UGA), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Materials science, Biocompatibility, Polymers, [SDV.MHEP.PHY] Life Sciences [q-bio]/Human health and pathology/Tissues and Organs [q-bio.TO], [SDV.NEU.NB]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Neurobiology, 0206 medical engineering, Biomedical Engineering, Impedance spectroscopy, Biocompatible Materials, Stimulation, 02 engineering and technology, Xylenes, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, Cellular and Molecular Neuroscience, chemistry.chemical_compound, 0302 clinical medicine, Parylene, [SDV.MHEP.PHY]Life Sciences [q-bio]/Human health and pathology/Tissues and Organs [q-bio.TO], Animals, Thin film, Electrical impedance, Age Factors, [SDV.NEU.NB] Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Neurobiology, Brain, Reproducibility of Results, Chronic implantation, 020601 biomedical engineering, Electric Stimulation, Biocompatibiliy, Electrodes, Implanted, Rats, Dielectric spectroscopy, Vagus nerve, Microelectrode, [SPI.AUTO] Engineering Sciences [physics]/Automatic, chemistry, Electrical stimulation, Electrode, Brain tissue response, Microelectrodes, 030217 neurology & neurosurgery, Biomedical engineering
Abstract: International audience; OBJECTIVE: The goal of this study was to evaluate the long-term behavior of the surface electrode through electrochemical characterization and follow up of implanted parylene/platinum microelectrodes.APPROACH: To this aim, we designed and manufactured specific planar electrodes for cortical implantation for a rat model. This work was included in the INTENSE® project, one of the goals of which was to prove the feasibility of selective neural recording or stimulation with cuff electrodes around the vagus nerve.MAIN RESULTS: After a 12-week implantation on a rat model, we can report that these microelectrodes have withstood in-vivo use. Regarding the biocompatibility of the electrodes (materials and manufacturing process), no adverse effect was reported. Indeed, after the three months implantation, we characterized limited tissue reaction beneath the electrodes and showed an increase and a stabilization of their impedance. Interestingly, the follow up of the electrochemical impedance combined with electrical stimulation highlighted a drop of the impedance up to 60% @1kHz after ten minutes of electrical stimulation at 110Hz.
Published: 2019

12. On Biocompatibility and Stability of Transversal Intrafascicular Multichannel Electrodes—TIME

Author: Thomas Stieglitz, Paul Čvančara, Victor Lopezalvarez, Thomas Guiho, Xavier Navarro, Tim Boretius, David Guiraud, Department of Microsystems Engineering [Freiburg] (IMTEK), University of Freiburg [Freiburg], Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Universitat Autònoma de Barcelona (UAB), European Project: 602547,EC:FP7:HEALTH,FP7-HEALTH-2013-INNOVATION-1,EPIONE(2013), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Materials science, Biocompatibility, Electrode, Biocompatibilité, 02 engineering and technology, engineering.material, Phantom limb pain, Iridium oxide, 021001 nanoscience & nanotechnology, 3. Good health, [SPI]Engineering Sciences [physics], 03 medical and health sciences, 0302 clinical medicine, Coating, engineering, Artificial hand, [SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, Upper limb amputation, 0210 nano-technology, Ulnar nerve, 030217 neurology & neurosurgery, Biomedical engineering
Abstract: International audience; Transversal intrafascicular multichannel electrodes (TIME) have been developed to interface with peripheral nerves after upper limb amputation. Intended use is the electrical stimulation of the median and ulnar nerve to deliver sensory feedback during phantom limb pain treatment and artificial hand control. Miniaturized electrode arrays were developed on polyimide substrates with thin film metallization using sputtered iridium oxide as electrode coating. Here, we report on the essential requirements including biocompatibility, mechanical and stimulation stability that have been investigated before permission was granted by the legal authorities to conduct subchronic first-in-man clinical trials. Explants have been investigated to identify possible first failure points and optimize the devices for chronic implantation.
Published: 2016

13. Model-Based Design and Experimental Validation of Control Modules for Neuromodulation Devices

Author: David Guiraud, Albert Hagège, Alfredo Hernandez, David Ojeda, Nicole Karam, Christine Henry, Hector M. Romero Ugalde, Philippe Mabo, Guy Carrault, Virginie Le Rolle, David Andreu, Jean-Luc Bonnet, Laboratoire Traitement du Signal et de l'Image (LTSI), Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National de la Santé et de la Recherche Médicale (INSERM), Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Sorin Group [Clamart], Hôpital Européen Georges Pompidou [APHP] (HEGP), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Hôpitaux Universitaires Paris Ouest - Hôpitaux Universitaires Île de France Ouest (HUPO), CIC-IT Rennes, Hôpital Pontchaillou-Institut National de la Santé et de la Recherche Médicale (INSERM), Service de cardiologie et maladies vasculaires [Rennes] = Cardiac, Thoracic, and Vascular Surgery [Rennes], CHU Pontchaillou [Rennes], This work was supported by BPIFRANCE within the framework of the French 'Investments for the future' program—INTENSE project., Université de Rennes (UR)-Institut National de la Santé et de la Recherche Médicale (INSERM), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Computer science, medicine.medical_treatment, 0206 medical engineering, Population, Heart rate, Biomedical Engineering, PID controller, 02 engineering and technology, Domain (software engineering), [SPI.AUTO]Engineering Sciences [physics]/Automatic, model-based control design, 03 medical and health sciences, 0302 clinical medicine, Neuromodulation, Model-based design, medicine, Animals, education, education.field_of_study, Sheep, Models, Cardiovascular, Reproducibility of Results, vagus nerve stimulation, Vagus Nerve, Control engineering, modeling, Equipment Design, simulation, 020601 biomedical engineering, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Neuromodulation (medicine), Vagus nerve, Identification (information), Range (mathematics), medicine.anatomical_structure, Control system, [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, [INFO.INFO-ET]Computer Science [cs]/Emerging Technologies [cs.ET], [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, 030217 neurology & neurosurgery, Vagus nerve stimulation
Abstract: International audience; Goal - The goal of this paper is to propose a model-based control design framework, adapted to the development of control modules for medical devices. A particular example is presented in which instantaneous heart rate is regulated in real-time, by modulating, in an adaptive manner, the current delivered to the vagus nerve by a neuromodulator. Methods - The proposed framework couples a control module, based on a classical PI controller, a mathematical model of the medical device, and a physiological model representing the cardiovascular responses to vagus nerve stimulation (VNS). In order to analyze and evaluate the behavior of the device, different control parameters are tested on a "virtual population," generated with the model, according to the Latin Hypercube sampling method. In particular, sensitivity analyses are applied for the identification of a domain of interest in the space of the control parameters. The obtained control parameter domain has been validated in an experimental evaluation on six sheep. Results - A range of control parameters leading to accurate results was successfully estimated by the proposed model-based design method. Experimental evaluation of the control parameters inside such a domain led to the best compromise between accuracy and time response of the VNS control. Conclusion - The feasibility and usefulness of the proposed model-based design method were shown, leading to a functional, real-time closed-loop control of the VNS for the regulation of heart rate.
Published: 2016

14. Fast simulation and optimization tool to explore selective neural stimulation

Author: Olivier Rossel, Mélissa Dali, David Guiraud, Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), This work was supported by BPI France, Grant 'Intense' Number #6354, and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: 030506 rehabilitation, Computer science, Computation, Interface (computing), Neural modeling, 0206 medical engineering, lcsh:Medicine, 02 engineering and technology, quasi-static approximation, Spatial selectivity, lcsh:QM1-695, 03 medical and health sciences, Quasistatic approximation, Selective stimulation, Functional electrical stimulation, Orthopedics and Sports Medicine, Molecular Biology, Simulation, 2016 IFESS Conference, Nerve stimulation, lcsh:R, Cuff electrode, Cell Biology, lcsh:Human anatomy, 020601 biomedical engineering, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Electrode, Neural stimulation, Neurology (clinical), 0305 other medical science, Biological system
Abstract: Special issue - 2016 IFESS Conference; International audience; In functional electrical stimulation, selective stimulation of axons is desirable to activate a specific target, in particular muscular function. This implies to simulate a fascicule without activating neighboring ones i.e. to be spatially selective. Spatial selectivity is achieved by the use of multicontact cuff electrodes over which the stimulation current is distributed. Because of the large number of parameters involved, numerical simulations provide a way to find and optimize electrode configuration. The present work offers a computation effective scheme and associated tool chain capable of simulating electrode-nerve interface and find the best spread of current to achieve spatial selectivity.
Published: 2016

15. A hybrid functional electrical stimulation for real-time estimation of joint torque and closed-loop control of muscle activation

Author: David Andreu, Zhan Li, Mitsuhiro Hayashibe, David Guiraud, Charles Fattal, Anthony Gelis, Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Centre de Rééducation Fonctionnelle Divio [Dijon] (CRF COS Divio), Euromov (EuroMov), Université de Montpellier (UM), Centre Mutualiste de Réeducation Neurologique Propara (PROPARA), Languedoc Mutualité, and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: 030506 rehabilitation, medicine.medical_specialty, Functional electrical stimulation (FES), Computer science, 0206 medical engineering, lcsh:Medicine, Stimulation, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, lcsh:QM1-695, Torque prediction, 03 medical and health sciences, Physical medicine and rehabilitation, Time estimation, Hybrid stimulation system, medicine, Torque, Functional electrical stimulation, Orthopedics and Sports Medicine, Molecular Biology, Muscle activation control, 2016 IFESS Conference, Work (physics), lcsh:R, Healthy subjects, Muscle activation, Cell Biology, lcsh:Human anatomy, 020601 biomedical engineering, Neurology (clinical), 0305 other medical science, Joint (audio engineering)
Abstract: International audience; As a neuroprosthetic technique, functional electrical stimulation (FES) can restore lost motor performance of impaired patients. Through delivering electrical pulses to target muscles, the joint movement can be eventually elicited. This work presents a real-time FES system which is able to deal with two neuroprosthetic missions: one is estimating FES-induced joint torque with evoked electromyograph (eEMG), and the other is artificially controlling muscle activation with such eEMG feedback. The clinical experiment results on spinal cord injured (SCI) patients and healthy subjects show promising performance of the proposed FES system.
Published: 2016

16. Real-time estimation of FES-induced joint torque with evoked EMG. Application to spinal cord injured patients

Author: David Andreu, Mourad Benoussaad, Mitsuhiro Hayashibe, Charles Fattal, Zhan Li, David Guiraud, Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE), Institut National de la Recherche en Informatique et en Automatique - INRIA (FRANCE), Centre de Rééducation Neurologique Mutualiste Propara (FRANCE), University of Electronic Science and Technology of China - UESTC (CHINA), Laboratoire Génie de Production - LGP (Tarbes, France), Control of Artificial Movement and Intuitive Neuroprosthesis ( CAMIN ), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier ( LIRMM ), Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ) -Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ) -Inria Sophia Antipolis - Méditerranée ( CRISAM ), Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ), Robotique mobile pour l'exploration de l'environnement ( EXPLORE ), Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ) -Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ), Interdisciplinary Center for Scientiﬁc Computing ( IWR ), Universität Heidelberg [Heidelberg], Centre de Rééducation Fonctionnelle Divio [Dijon] ( CRF COS Divio ), Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Robotique mobile pour l'exploration de l'environnement (EXPLORE), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Interdisciplinary Center for Scientiﬁc Computing (IWR), Centre de Rééducation Fonctionnelle Divio [Dijon] (CRF COS Divio), Institut National Polytechnique de Toulouse - INPT (FRANCE), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), and Universität Heidelberg [Heidelberg] = Heidelberg University
Subjects: Engineering, medicine.medical_specialty, Evoked electromyography (eEMG), Functional electrical stimulation (FES), [SDV]Life Sciences [q-bio], 0206 medical engineering, Health Informatics, 02 engineering and technology, Electromyography, Spinal cord injury, Signal, 03 medical and health sciences, 0302 clinical medicine, Physical medicine and rehabilitation, Functional electrical stimulation, medicine, Torque, medicine.diagnostic_test, [ SDV ] Life Sciences [q-bio], business.industry, Biomécanique, Rehabilitation, Kalman filter, medicine.disease, 020601 biomedical engineering, FES, Spinal cord injured (SCI), Recurrent neural network, Neurobiologie, SCI, Joint torque, business, Joint (audio engineering), 030217 neurology & neurosurgery
Abstract: International audience; BackgroundFunctional electrical stimulation (FES) is a neuroprosthetic technique for restoring lost motor function of spinal cord injured (SCI) patients and motor-impaired subjects by delivering short electrical pulses to their paralyzed muscles or motor nerves. FES induces action potentials respectively on muscles or nerves so that muscle activity can be characterized by the synchronous recruitment of motor units with its compound electromyography (EMG) signal is called M-wave. The recorded evoked EMG (eEMG) can be employed to predict the resultant joint torque, and modeling of FES-induced joint torque based on eEMG is an essential step to provide necessary prediction of the expected muscle response before achieving accurate joint torque control by FES.MethodsPrevious works on FES-induced torque tracking issues were mainly based on offline analysis. However, toward personalized clinical rehabilitation applications, real-time FES systems are essentially required considering the subject-specific muscle responses against electrical stimulation. This paper proposes a wireless portable stimulator used for estimating/predicting joint torque based on real time processing of eEMG. Kalman filter and recurrent neural network (RNN) are embedded into the real-time FES system for identification and estimation.ResultsPrediction results on 3 able-bodied subjects and 3 SCI patients demonstrate promising performances. As estimators, both Kalman filter and RNN approaches show clinically feasible results on estimation/prediction of joint torque with eEMG signals only, moreover RNN requires less computational requirement.ConclusionThe proposed real-time FES system establishes a platform for estimating and assessing the mechanical output, the electromyographic recordings and associated models. It will contribute to open a new modality for personalized portable neuroprosthetic control toward consolidated personal healthcare for motor-impaired patients.
Published: 2016

17. Real-Time Closed-Loop Functional Electrical Stimulation Control of Muscle Activation with Evoked Electromyography Feedback for Spinal Cord Injured Patients

Author: Mitsuhiro Hayashibe, Charles Fattal, David Guiraud, Zhan Li, David Andreu, Anthony Gelis, Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Centre Mutualiste de Réeducation Neurologique Propara (PROPARA), Languedoc Mutualité, Centre de Rééducation Fonctionnelle Divio [Dijon] (CRF COS Divio), Tohoku University [Sendai], and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Adult, Male, 0209 industrial biotechnology, medicine.medical_specialty, Time Factors, Computer Networks and Communications, Electric Stimulation Therapy, Stimulation, Spinal cord injury, 02 engineering and technology, Stimulus (physiology), Models, Biological, Feedback, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Young Adult, 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, Physical medicine and rehabilitation, Functional electrical stimulation, Humans, Medicine, Muscle, Skeletal, Muscle activation control, Spinal Cord Injuries, eEMG, Electromyography, business.industry, Work (physics), Neurological Rehabilitation, Muscle activation, General Medicine, Middle Aged, Spinal cord, medicine.disease, Neurophysiological Monitoring, Evoked electromyography, FES, medicine.anatomical_structure, SCI, Female, [SDV.IB]Life Sciences [q-bio]/Bioengineering, business, 030217 neurology & neurosurgery
Abstract: Functional electrical stimulation (FES) is a neuroprosthetic technique to help restore motor function of spinal cord-injured (SCI) patients. Through delivery of electrical pulses to muscles of motor-impaired subjects, FES is able to artificially induce their muscle contractions. Evoked electromyography (eEMG) is used to record such FES-induced electrical muscle activity and presents a form of [Formula: see text]-wave. In order to monitor electrical muscle activity under stimulation and ensure safe stimulation configurations, closed-loop FES control with eEMG feedback is needed to be developed for SCI patients who lose their voluntary muscle contraction ability. This work proposes a closed-loop FES system for real-time control of muscle activation on the triceps surae and tibialis muscle groups through online modulating pulse width (PW) of electrical stimulus. Subject-specific time-variant muscle responses under FES are explicitly reflected by muscle excitation model, which is described by Hammerstein system with its input and output being, respectively, PW and eEMG. Model predictive control is adopted to compute the PW based on muscle excitation model which can online update its parameters. Four muscle activation patterns are provided as desired control references to validate the proposed closed-loop FES control paradigm. Real-time experimental results on three able-bodied subjects and five SCI patients in clinical environment show promising performances of tracking the aforementioned reference muscle activation patterns based on the proposed closed-loop FES control scheme.
Published: 2018

18. Spike Sorting of Muscle Spindle Afferent Nerve Activity Recorded with Thin-Film Intrafascicular Electrodes

Author: Milan Djilas, Ken Yoshida, David Guiraud, Christine Azevedo-Coste, Artificial movement and gait restoration (DEMAR), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Indiana University - Purdue University Indianapolis (IUPUI), Indiana University System, Center for Sensory-Motor Interaction (SMI), Aalborg University [Denmark] (AAU), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Time Factors, Materials science, Article Subject, General Computer Science, General Mathematics, Speech recognition, 0206 medical engineering, Muscle spindle, Action Potentials, Sensory system, 02 engineering and technology, lcsh:Computer applications to medicine. Medical informatics, Models, Biological, lcsh:RC321-571, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, Wavelet, Afferent, medicine, Animals, Functional electrical stimulation, Neurons, Afferent, Muscle, Skeletal, lcsh:Neurosciences. Biological psychiatry. Neuropsychiatry, Electrodes, Muscle Spindles, Continuous wavelet transform, General Neuroscience, Signal Processing, Computer-Assisted, General Medicine, 020601 biomedical engineering, medicine.anatomical_structure, ROC Curve, Spike sorting, Electrode, Linear Models, lcsh:R858-859.7, [SDV.IB]Life Sciences [q-bio]/Bioengineering, Rabbits, Algorithms, 030217 neurology & neurosurgery, Research Article, Biomedical engineering
Abstract: International audience; Afferent muscle spindle activity in response to passive muscle stretch was recorded in vivo using thin-film longitudinal intrafascicular electrodes. A neural spike detection and classification scheme was developed for the purpose of separating activity of primary and secondary muscle spindle afferents. The algorithm is based on the multiscale continuous wavelet transform using complex wavelets. The detection scheme outperforms the commonly used threshold detection, especially with recordings having low signal-to-noise ratio. Results of classification of units indicate that the developed classifier is able to isolate activity having linear relationship with muscle length, which is a step towards online model-based estimation of muscle length that can be used in a closed-loop functional electrical stimulation system with natural sensory feedback.
Published: 2010

19. A method for paraplegic upper-body posture estimation during standing: a pilot study for rehabilitation purposes

Author: Nacim Ramdani, Philippe Fraisse, Gaël Pages, David Guiraud, Laboratoire de Probabilités et Modèles Aléatoires (LPMA), Centre National de la Recherche Scientifique (CNRS)-Université Paris Diderot - Paris 7 (UPD7)-Université Pierre et Marie Curie - Paris 6 (UPMC), Département Images, Robotique, Automatique et Signal [Orléans] (IRAUS), Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME), Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA), Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Artificial movement and gait restoration (DEMAR), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Université Pierre et Marie Curie - Paris 6 (UPMC)-Université Paris Diderot - Paris 7 (UPD7)-Centre National de la Recherche Scientifique (CNRS), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Adult, Male, Engineering, medicine.medical_specialty, Adolescent, Constraint satisfaction problem, medicine.medical_treatment, Posture, Physics::Medical Physics, 0206 medical engineering, Biomedical Engineering, Electric Stimulation Therapy, Pilot Projects, 02 engineering and technology, Models, Biological, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Interval arithmetic, 03 medical and health sciences, 0302 clinical medicine, Physical medicine and rehabilitation, Control theory, medicine, Humans, Interval analysis, Functional electrical stimulation, Spinal Cord Injuries, Paraplegia, Rehabilitation, Quantitative Biology::Neurons and Cognition, Upper body, business.industry, Middle Aged, medicine.disease, 020601 biomedical engineering, Sagittal plane, Computer Science Applications, medicine.anatomical_structure, Bounded function, business, Estimation, 030217 neurology & neurosurgery
Abstract: International audience; This paper presents a contribution for restoring standing in paraplegia while using functional electrical stimulation (FES). Movement generation induced by FES remains mostly open looped and stimulus intensities are tuned empirically. To design an efficient closed-loop control, a preliminary study has been carried out to investigate the relationship between body posture and voluntary upper body movements. A methodology is proposed to estimate body posture in the sagittal plane using force measurements exerted on supporting handles during standing. This is done by setting up constraints related to the geometric equations of a two-dimensional closed chain model and the hand-handle interactions. All measured quantities are subject to an uncertainty assumed unknown but bounded. The set membership estimation problem is solved via interval analysis. Guaranteed uncertainty bounds are computed for the estimated postures. In order to test the feasibility of our methodology, experiments were carried out with complete spinal cord injured patients
Published: 2009

20. Toward complex multipolar selective neural stimulation

Author: David Guiraud, Hernandez Alfredo, Thomas Guiho, Laure Laporte, Guillaume Souquet, Olivier Rossel, David Andreu, Christine Azevedo Coste, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), AXONIC - OBELIA dept, MXM-Laboratoires de Techologies Médicales, Laboratoire Traitement du Signal et de l'Image (LTSI), Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National de la Santé et de la Recherche Médicale (INSERM), Sorin Group [Clamart], Guiho, Thomas, Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), and Université de Rennes (UR)-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: [SPI.OTHER]Engineering Sciences [physics]/Other, Medical device, [SPI.OTHER] Engineering Sciences [physics]/Other, Computer science, [SPI.NANO] Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, 0206 medical engineering, Cuff electrode, Control engineering, Muscle activation, 02 engineering and technology, Neurophysiology, 020601 biomedical engineering, 03 medical and health sciences, 0302 clinical medicine, Neural stimulation, Selectivity, Multipolar configuration, [SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, 030217 neurology & neurosurgery
Abstract: International audience; We introduce a new approach for the investigation of multipolar selective neural stimulation. We aim at comparing existing solutions from the literature and innovate in this field with advanced strategies. We have developed a multichannel stimulator, Stim'ND, which allows us to control independently the parameters of complex stimulation profiles of 12 channels for a large number of stimulating current configurations. In this paper, we present preliminary experimental results on a multi-contact cuff electrode, placed around the sciatic nerve of a rabbit 4 multipolar stimulation configurations have been tested and the achieved selectivity in terms of muscle activation investigated. The results are in accordance with the literature and enable us to validate our approach from theoretical and technological points of view. Furthermore the stimulator was designed following the norms and rules that apply to human active implantable medical device so that the technology is currently approved to be transferred to human trials.
Published: 2015

21. Delaying discharge after the stimulus significantly decreases muscle activation thresholds with small impact on the selectivity: an in vivo study using TIME

Author: Tim Boretius, Winnie Jensen, Xavier Navarro, Pawel Maciejasz, Thomas Stieglitz, Jordi Badia, David Andreu, David Guiraud, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Universitat Autònoma de Barcelona (UAB), Department of Microsystems Engineering [Freiburg] (IMTEK), University of Freiburg [Freiburg], Center for Sensory-Motor Interaction (SMI), Aalborg University [Denmark] (AAU), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: [SPI.OTHER]Engineering Sciences [physics]/Other, Materials science, Neural Prostheses, 0206 medical engineering, Biomedical Engineering, Stimulation, 02 engineering and technology, Stimulus (physiology), Prosthesis Design, Rats, Sprague-Dawley, 03 medical and health sciences, 0302 clinical medicine, In vivo, Functional electrical stimulation, Waveform, Animals, Muscle, Skeletal, Multi-electrode arrays, Electromyography, Delayed discharge, 020601 biomedical engineering, Sciatic Nerve, Electric Stimulation, Computer Science Applications, Anode, Electrodes, Implanted, Rats, Stimulation selectivity, Electrode, Sciatic nerve, Neural interfaces, 030217 neurology & neurosurgery, Biomedical engineering
Abstract: The number of devices for electrical stimulation of nerve fibres implanted worldwide for medical applications is constantly increasing. Stimulation charge is one of the most important parameters of stimulation. High stimulation charge may cause tissue and electrode damage and also compromise the battery life of the electrical stimulators. Therefore, the objective of minimizing stimulation charge is an important issue. Delaying the second phase of biphasic stimulation waveform may decrease the charge required for fibre activation, but its impact on stimulation selectivity is not known. This information is particularly relevant when transverse intrafascicular multichannel electrode (TIME) is used, since it has been designed to provide for high selectivity. In this in vivo study, the rat sciatic nerve was electrically stimulated using monopolar and bipolar configurations with TIME. The results demonstrated that the inclusion of a 100-μs delay between the cathodic and the anodic phase of the stimulus allows to reduce charge requirements by around 30 %, while only slightly affecting stimulation selectivity. This study shows that adding a delay to the typical stimulation waveform significantly ( $$P < 0.001$$ ) reduces the charge required for nerve fibres activation. Therefore, waveforms with the delayed discharge phase are more suitable for electrical stimulation of nerve fibres.
Published: 2015

22. TOWARDS MODELLING THE HUMAN SENSORY MOTOR SYSTEM

Author: Christine Azevedo, Hassan El Makssoud, Ken Yoshida, Mohammed Samer, David Guiraud, Philippe Poignet, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Center for Sensory-Motor Interaction (SMI), Aalborg University [Denmark] (AAU), Conception et commande de robots pour la manipulation (DEXTER), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Robotique médicale et mécanismes parallèles (DEXTER), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM)
Subjects: Sensory motor system, Engineering, Automatic control, business.industry, 0206 medical engineering, Disabled people, 02 engineering and technology, General Medicine, 020601 biomedical engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Rehabilitation engineering, 03 medical and health sciences, 0302 clinical medicine, Functional electrical stimulation, business, Neuroscience, ComputingMilieux_MISCELLANEOUS, 030217 neurology & neurosurgery
Abstract: DEMAR aims at rehabilitation engineering using Functional Electrical Stimulation based on the automatic control theoretical approach but also on the physiology of the system studied, to obtain a useable and useful therapy for disabled people. To simulate, synthesize, and control movements of impaired limbs using Functional Electrical Stimulation, modelling is necessary. Living actuators, i.e. muscles, sensors, i.e. Golgi Tendon Organs and muscle spindles, need to be understood and modelled to perform realistic numerical simulations. The paper describes some results obtained in the DEMAR team.
Published: 2006

23. A system for real-time estimation of joint torque with evoked EMG under electrical stimulation

Author: David Andreu, David Guiraud, Mitsuhiro Hayashibe, Zhan Li, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Artificial movement and gait restoration (DEMAR), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: 0209 industrial biotechnology, medicine.medical_specialty, Engineering, Muscle fatigue, business.industry, 0206 medical engineering, Work (physics), Estimator, Stimulation, 02 engineering and technology, Kalman filter, 020601 biomedical engineering, 020901 industrial engineering & automation, Physical medicine and rehabilitation, Control theory, medicine, Torque, Functional electrical stimulation, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], Joint (audio engineering), business
Abstract: International audience; Functional electrical stimulation (FES) is a useful rehabilitation technique for restoring motor capability of spinal cord injured (SCI) patients by artiﬁcially driving muscle contractions. Real-time FES systems with online modulation ability are in great need for clinical applications. In this work, a system for real-time estimation of joint torque with evoked electromyography (eEMG) is presented. Kalman ﬁlter (KF) is adopted and embedded into the system as the online torque estimator. The real-time estimation system would be promising toward FES control with consideration of torque changes caused by muscle fatigue.
Published: 2014

24. Forward Estimation of Joint Torque from EMG Signal through Muscle Synergy Combinations

Author: Mitsuhiro Hayashibe, David Guiraud, Zhan Li, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Artificial movement and gait restoration (DEMAR), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: 0209 industrial biotechnology, medicine.diagnostic_test, Computer science, Estimation theory, 0206 medical engineering, Biomechanics, 02 engineering and technology, Electromyography, Neurophysiology, 020601 biomedical engineering, Motor unit, 020901 industrial engineering & automation, medicine.anatomical_structure, Control theory, medicine, Torque, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], Ankle, Joint (geology)
Abstract: International audience; Human movement is a result of synergetic combinations of multiple muscle contractions. The summation of motor unit action potentials can be measured through Electromyography (EMG), thus the processed EMG can be re- garded as the muscle activation to be employed to estimate joint movement or torque production. Such forward relationship for representing the joint torque can be established and identiﬁed through associated EMG/activations of extension and ﬂexion muscle groups. On the other hand, muscle synergy always exists indicating how quantitatively central nervous system (CNS) drives correlated muscle groups to accomplish the joint torque generation. In this paper, we investigate the approaches of estimating the ankle joint torque from EMG/activatons of associated muscle groups. The approaches discussed fall into two main categories: i) full utilization of both of extension and ﬂexion EMG/activations for estimating the joint torque; ii) exploitation of muscle synergy extraction of EMG/actvations and consequent usage of extracted components in reduced space for estimating the joint torque. Comparison is made between the two methods with experimental data of ﬁve able-bodied subjects. From the results we conclude that, method ii) with muscle synergy extraction may not degrade the performance of method i) but meanwhile show the the muscle synergic ratios for generating the joint torque, and involvement of joint position and velocity information can improve the estimation for both methods.
Published: 2013

25. Inverse Estimation of Muscle Activations from Joint Torque Via Local Multiple Regression

Author: Mitsuhiro Hayashibe, David Guiraud, Zhan Li, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Artificial movement and gait restoration (DEMAR), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Adult, Male, 0209 industrial biotechnology, Computer science, Movement, 0206 medical engineering, Physics::Medical Physics, Artificial Limbs, 02 engineering and technology, Electromyography, Models, Biological, Signal, 020901 industrial engineering & automation, Control theory, Linear regression, medicine, Humans, Torque, Muscle Strength, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], medicine.diagnostic_test, Biomechanics, Control engineering, 020601 biomedical engineering, medicine.anatomical_structure, Female, Ankle, Ankle Joint, Muscle Contraction
Abstract: International audience; The signal measured with an electromyogram (EMG) is the summation of all action potentials of motor units active at a certain time. According to previous litera- ture, one can establish the relationship between torque and EMG/activations in a forward way, i.e., employing EMG of multiple channels to estimate the joint torque. Once the rela- tionship is established, the torque can be predicted with EMG recordings. However, in some applications of neuroprosthetics where we need to make muscle control, it is required to inversely have an insight regarding the muscle activations under a speciﬁc motion scenario from the corresponding torque. Motivated by this point, this paper investigates inverse estimation of muscle activations in random contractions at the ankle joint. Local multiple regression is exploited for ﬁnding the relationship between muscle activations and torque. Such technique is able to rebuild the relationship between muscle activations and joint torque inversely based on experimental data obtained from ﬁve able-bodied subjects, and the resultant optimal weight matrix can indicate each muscle's contribution in the production of the torque. Further cross validation on prediction of muscle activations with joint torque with optimal weights shows that such approach may possess promising performance.
Published: 2013

26. Experimental parameter identification of a multi-scale musculoskeletal model controlled by electrical stimulation: application to patients with spinal cord injury

Author: Mitsuhiro Hayashibe, Charles Fattal, Mourad Benoussaad, David Guiraud, Philippe Poignet, Christine Azevedo-Coste, Artificial movement and gait restoration (DEMAR), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre Mutualiste de Réeducation Neurologique Propara (PROPARA), Languedoc Mutualité, Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Robotique médicale et mécanismes parallèles (DEXTER), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Adult, Male, medicine.medical_specialty, Scale (ratio), Knee Joint, Parameter identification, Computer science, 0206 medical engineering, Biomedical Engineering, Stimulation, Electric Stimulation Therapy, 02 engineering and technology, Models, Biological, Cross-validation, Nonlinear programming, Quadriceps Muscle, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, Young Adult, 0302 clinical medicine, Physical medicine and rehabilitation, Biomechanical model, medicine, Humans, Spinal cord injury, Spinal Cord Injuries, Protocol (science), Paraplegia, Middle Aged, medicine.disease, 020601 biomedical engineering, Computer Science Applications, Identification (information), [SDV.IB]Life Sciences [q-bio]/Bioengineering, Muscle model, 030217 neurology & neurosurgery, Simulation, Biomedical engineering, Muscle Contraction
Abstract: International audience; We investigated the parameter identification of a multi-scale physiological model of skeletal muscle, based on Huxley's formulation. We focused particularly on the knee joint controlled by quadriceps muscles under electrical stimulation (ES) in subjects with a complete spinal cord injury. A noninvasive and in vivo identification protocol was thus applied through surface stimulation in nine subjects and through neural stimulation in one ES-implanted subject. The identification protocol included initial identification steps, which are adaptations of existing identification techniques to estimate most of the parameters of our model. Then we applied an original and safer identification protocol in dynamic conditions, which required resolution of a nonlinear programming (NLP) problem to identify the serial element stiffness of quadriceps. Each identification step and cross validation of the estimated model in dynamic condition were evaluated through a quadratic error criterion. The results highlighted good accuracy, the efficiency of the identification protocol and the ability of the estimated model to predict the subject-specific behavior of the musculoskeletal system. From the comparison of parameter values between subjects, we discussed and explored the inter-subject variability of parameters in order to select parameters that have to be identified in each patient.
Published: 2013

27. In-vivo Identification of Skeletal Muscle Dynamics with Nonlinear Kalman Filter -Comparison between EKF and SPKF

Author: Mitsuhiro Hayashibe, David Guiraud, Philippe Poignet, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: business.product_category, Article Subject, Computer science, 0206 medical engineering, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, Extended Kalman filter, 0302 clinical medicine, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, medicine, Simulation, Lever, Dynamics (mechanics), Work (physics), Skeletal muscle, Kalman filter, 020601 biomedical engineering, Nonlinear system, medicine.anatomical_structure, [SDV.IB]Life Sciences [q-bio]/Bioengineering, medicine.symptom, business, Biological system, 030217 neurology & neurosurgery, Muscle contraction
Abstract: International audience; Skeletal muscle system has nonlinear dynamics and subject-specific characteristics. Thus, it is essential to identify unknown parameters from noisy biomedical signals to improve the modeling accuracy in neuroprosthetic control. The objective of this work is to develop an experimental identification method for subject-specific biomechanical parameters of a physiological muscle model which can be employed to predict the nonlinear force properties of stimulated muscle. Our previously proposed muscle model, which can describe multi-scale physiological system based on the Hill and Huxley models, was used for the identification. The identification protocols were performed on two rabbit experiments, where the medial gastrocnemius was attached to a motorized lever system to record the force by the nerve stimulation. The muscle model was identified using nonlinear Kalman filters: Sigma-Point and Extended Kalman Filter. The identified model was evaluated by comparison with experimental measurements in cross-validation manner. The feasibility could be demonstrated by comparison between the estimated parameter and the measured value. The estimates with SPKF showed 5.7% and 2.9% error in each experiment with 7 different initial conditions. It reveals that SPKF has great advantage especially for the identification of multi-scale muscle model which accounts for the high nonlinearity and discontinuous states between muscle contraction and relaxation process.
Published: 2013

28. Inverse Estimation of Multiple Muscle Activations under Isokinetic Condition

Author: Mitsuhiro Hayashibe, Zhan Li, David Guiraud, Artificial movement and gait restoration (DEMAR), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Li, Zhan, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: 0209 industrial biotechnology, Motor unit action potential, Computer science, 0206 medical engineering, Inverse, Muscle activation, 02 engineering and technology, 020601 biomedical engineering, Motor unit, [INFO.INFO-BT] Computer Science [cs]/Biotechnology, 020901 industrial engineering & automation, Control theory, Position (vector), Torque, [INFO.INFO-BT]Computer Science [cs]/Biotechnology
Abstract: International audience; Electromyogram (EMG) is a useful technique for recording activation process by measuring a summation of motor unit action potentials (MUAP) produced by muscles. EMG signals have been acquired and processed to establish mappingsbetween muscle activation, torque or/and joint position. A common way for constructing such relationship is to use torque, position and multiple-channel EMG signals. In this paper, all three muscles' activations are estimated through torque and position information via using multi-output regression. Results show that such approach is effective in multiple muscle(s) activations (EMG) identification and predictions.
Published: 2013

29. Voluntary EMG-to-force estimation with a multi-scale physiological muscle model

Author: David Guiraud, Mitsuhiro Hayashibe, Artificial movement and gait restoration (DEMAR), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Sarcomeres, 0206 medical engineering, Multi-scale physiology, Biomedical Engineering, 02 engineering and technology, Isometric exercise, Electromyography, Models, Biological, Hill's muscle model, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Biomaterials, Hill model, 03 medical and health sciences, 0302 clinical medicine, EMG, CrossBridge, Control theory, Phenomenological model, medicine, Humans, Torque, Radiology, Nuclear Medicine and imaging, Muscle force estimation, Simulation, Mathematics, Radiological and Ultrasound Technology, medicine.diagnostic_test, Muscles, Research, General Medicine, 020601 biomedical engineering, Nonlinear system, medicine.symptom, Muscle model, 030217 neurology & neurosurgery, Muscle Contraction, Muscle contraction
Abstract: This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.; International audience; BackgroundEMG-to-force estimation based on muscle models, for voluntary contraction has many applications in human motion analysis. The so-called Hill model is recognized as a standard model for this practical use. However, it is a phenomenological model whereby muscle activation, force-length and force-velocity properties are considered independently. Perreault reported Hill modeling errors were large for different firing frequencies, level of activation and speed of contraction. It may be due to the lack of coupling between activation and force-velocity properties. In this paper, we discuss EMG-force estimation with a multi-scale physiology based model, which has a link to underlying crossbridge dynamics. Differently from the Hill model, the proposed method provides dual dynamics of recruitment and calcium activation.MethodsThe ankle torque was measured for the plantar flexion along with EMG measurements of the medial gastrocnemius (GAS) and soleus (SOL). In addition to Hill representation of the passive elements, three models of the contractile parts have been compared. Using common EMG signals during isometric contraction in four able-bodied subjects, torque was estimated by the linear Hill model, the nonlinear Hill model and the multi-scale physiological model that refers to Huxley theory. The comparison was made in normalized scale versus the case in maximum voluntary contraction.ResultsThe estimation results obtained with the multi-scale model showed the best performances both in fast-short and slow-long term contraction in randomized tests for all the four subjects. The RMS errors were improved with the nonlinear Hill model compared to linear Hill, however it showed limitations to account for the different speed of contractions. Average error was 16.9% with the linear Hill model, 9.3% with the modified Hill model. In contrast, the error in the multi-scale model was 6.1% while maintaining a uniform estimation performance in both fast and slow contractions schemes.ConclusionsWe introduced a novel approach that allows EMG-force estimation based on a multi-scale physiology model integrating Hill approach for the passive elements and microscopic cross-bridge representations for the contractile element. The experimental evaluation highlights estimation improvements especially a larger range of contraction conditions with integration of the neural activation frequency property and force-velocity relationship through cross-bridge dynamics consideration.
Published: 2013

30. Comparison of stimulation selectivity in monopolar and bipolar configuration using the Transversal Intrafascicular Multichannel Electrode (TIME) - Preliminary results

Author: David Guiraud, Kristian Rauhe Harreby, Tim Boretius, Jordi Badia, Thomas Stieglitz, Xavier Navarro, Winnie Jensen, Pawel Maciejasz, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Universitat Autònoma de Barcelona (UAB), Department of Microsystems Engineering [Freiburg] (IMTEK), University of Freiburg [Freiburg], Center for Sensory-Motor Interaction (SMI), Aalborg University [Denmark] (AAU), IMTEK, Department of Microsystems Engineering, Laboratory for MEMS Applications, Albert-Ludwigs-Universität Freiburg, Cell Biology, Physiology and Immunology, Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), José L. Pons, Diego Torricelli, Marta Pajaro, European Project: 224012,EC:FP7:ICT,FP7-ICT-2007-2,TIME(2008), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)
Subjects: [SPI.OTHER]Engineering Sciences [physics]/Other, Materials science, 0206 medical engineering, High selectivity, Muscle activation, Stimulation, 02 engineering and technology, 020601 biomedical engineering, selective nerve fiber stimulation, Compound muscle action potential, electrodes, 03 medical and health sciences, TIME electrode, 0302 clinical medicine, Transversal (combinatorics), Electrode, Sciatic nerve, multipolar stimulation, nerve interfaces, Selectivity, 030217 neurology & neurosurgery, Biomedical engineering
Abstract: International audience; The Transversal Intrafascicular Multichannel Electrode (TIME) is intended to be implanted transversally in the nerve and address several fascicles or subgroups of nerve fibres with one device. It has been already shown that TIME allows to achieve high selectivity of stimulation when using monopolar configuration, i.e. when current is delivered through one of the sites of the TIME against small needle electrode placed in the proximity of the nerve. Results of the current study suggest that using bipolar configuration, i.e. when current is delivered through one of the TIME sites against an other site of the same electrode, could allow to further enhance selectivity of stimulation. However, higher charge of the stimulation may be necessary to achieve similar level of muscle activation, as compared to the monopolar configuration.
Published: 2013

31. FES-Induced Muscular Torque Prediction with Evoked EMG Synthesized by NARX-Type Recurrent Neural Network

Author: David Guiraud, Zhan Li, Qin Zhang, Mitsuhiro Hayashibe, Artificial movement and gait restoration (DEMAR), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Nonlinear autoregressive exogenous model, Engineering, Adaptive control, business.industry, 0206 medical engineering, 02 engineering and technology, Kalman filter, Neurophysiology, 020601 biomedical engineering, Recurrent neural network, Control theory, Convergence (routing), 0202 electrical engineering, electronic engineering, information engineering, Functional electrical stimulation, Torque, 020201 artificial intelligence & image processing, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], [INFO.INFO-BT]Computer Science [cs]/Biotechnology, business
Abstract: International audience; Functional electrical stimulation (FES) is able to restore motor function of spinal cord injured (SCI) patients. To make adaptive FES control taking into account the actual muscle state with muscular feedback information, torque estimation and prediction are important to be provided beforehand. Evoked EMG (eEMG) has been found to be highly correlated with FES-induced torque under various muscle conditions, indicating that it can be an useful tool for torque/force prediction. To better construct the relationship between eEMG and stimulated muscular torque, nonlinear-arx-type (NARXtype) model is preferred. This paper presents and exploits a NARX-type recurrent neural network (NARX-RNN) model for identification and prediction of FES-induced muscular dynamics with eEMG. Such NARX-RNN model is with a novel architecture for prediction, with robust prediction performance. To make fast convergence for identification of such NARXRNN, directly-learning pattern is exploited during the learning phase. Due to difficulty of choosing a proper forgetting factor of Kalman filter for predicting time-variant torque with eEMG, such NARX-RNN may be considered to be a better alternative as torque predictor. Data gathered from two SCI patients is used to evaluate the proposed NARX-RNN model. The NARX-RNN model shows promising estimation and prediction performance only based on eEMG.
Published: 2012

32. 3D volumetric muscle modeling for real-time deformation analysis with FEM

Author: Mitsuhiro Hayashibe, Yacine Berranen, Benjamin Gilles, David Guiraud, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)
Subjects: Engineering, Computation, Finite Element Analysis, 0206 medical engineering, Passive behavior, 02 engineering and technology, Models, Biological, Hill's muscle model, Stress (mechanics), 0203 mechanical engineering, Computer Systems, Hardness, Elastic Modulus, Humans, Computer Simulation, Muscle, Skeletal, Contraction (operator theory), Simulation, Deformation (mechanics), business.industry, Biomechanics, Organ Size, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, 020601 biomedical engineering, Finite element method, 020303 mechanical engineering & transports, Stress, Mechanical, business
Abstract: International audience; Computer simulation is promising numerical tool to study muscle volumetric deformations. However, most models are facing very long computation time and thus are based on simplified wire Hill muscle model. The purpose of this study is to develop a real-time three-dimensional biomechanical model of volumetric muscle based on modified Hill model for the active stress which is controlled from EMG recordings. Finite element model is used to estimate the passive behavior of the muscle and tendons during contraction. We demonstrate that this 3D model implementation is very cost effective with respect to the computation time and the simulation gives good results compared to real measured data. Thus, this effective implementation will allow implementing much more complex and realistic models considering the muscle as volumetric continuum, with moderate computation time.
Published: 2012

33. Toward Lower Limbs Movement Restoration with Input-Output Feedback Linearization and Model Predictive Control Through Functional Electrical Stimulation

Author: David Guiraud, Samer Mohammed, Philippe Fraisse, Philippe Poignet, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Conception et commande de robots pour la manipulation (DEXTER), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Interactive Digital Humans (IDH), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Robotique médicale et mécanismes parallèles (DEXTER), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Engineering, business.industry, Applied Mathematics, 0206 medical engineering, 02 engineering and technology, Kinematics, 020601 biomedical engineering, Computer Science Applications, System dynamics, Rehabilitation engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, Model predictive control, 0302 clinical medicine, Control and Systems Engineering, Robustness (computer science), Linearization, Control theory, Functional electrical stimulation, [SDV.IB]Life Sciences [q-bio]/Bioengineering, Electrical and Electronic Engineering, business, 030217 neurology & neurosurgery
Abstract: International audience; Functional electrical stimulation (FES) is used to excite paralyzed muscles that are no longer controlled by patients with spinal cord injuries (SCI). Appropriate stimulation patterns are chosen to stimulate intact muscles, in order to extend their overall performance, postponing thus the muscular fatigue during the daily activities such as standing, standing up, sitting down and walking. This paper presents the modeling and the control of a knee joint actuated by the quadriceps muscles. Appropriate stimulation patterns are computed as a function of the desired lower-limb knee joint movements. Parameters of the biomechanical model are identified based on experimental kinematic data. Model predictive control (MPC) is applied to the inputâ€"output feedback linearized (IOFL) system. IOFL allows linearization by inverting the system dynamics through a nonlinear feedback transformation. The described control approach is validated through different simulation scenarios for knee flexionâ€"extension. Internal dynamics stability is mathematically proved and performances are compared to those produced by classical pole placements method. The controller has shown satisfactory results in terms of regulation, stability and robustness with respect to external disturbances.
Published: 2012

34. Interfacing the neural system to restore deficient functions: from theoretical studies to neuroprothesis design

Author: David Guiraud, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Technology, Computer science, media_common.quotation_subject, Movement, 0206 medical engineering, Disabled people, Déficience sensorimotrice, 02 engineering and technology, Prosthesis Design, Efferent Pathways, Models, Biological, Nervous System, General Biochemistry, Genetics and Molecular Biology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, User-Computer Interface, 0302 clinical medicine, Functional electrical stimulation, Neural system, Humans, Quality (business), Computer Simulation, Nervous System Physiological Phenomena, [SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, Function (engineering), Muscle, Skeletal, media_common, Cognitive science, Movement Disorders, General Immunology and Microbiology, Medical treatment, General Medicine, 020601 biomedical engineering, Electric Stimulation, 3. Good health, Electrophysiology, Interfacing, [SDV.IB]Life Sciences [q-bio]/Bioengineering, Electronics, Nervous System Diseases, General Agricultural and Biological Sciences, 030217 neurology & neurosurgery, Autonomy, Algorithms
Abstract: International audience; Electrical stimulation is a valuable technical solution to treat severe deficiencies related to nervous system. It is particularly interesting when no medical treatment exists as for cardiac deficiencies, deafness, blindness or complete paralysis. However, activating excitable cells such as neurons or muscle fibers to recover functions remains a difficult scientific and technological challenge. Indeed, both the function to restore and the way to activate selectively the desired target are not fully understood. The article describes how both theoretical studies based on experiments, and technological developments based on electrophysiology knowledge may help in the development of highly effective solutions. Existing systems such as pacemakers and cochlear implants proved that the recovered functions are of great quality leading to increase of quality of life and autonomy of the patients. However, the challenge for movement restoration is still in front of researchers, developers and clinical teams. The described method is the way we choose to face fundamental and tremendous scientific questions in order to provide disabled people with extended autonomy.
Published: 2011

35. Evoked EMG-based torque prediction under muscle fatigue in implanted neural stimulation

Author: Mitsuhiro Hayashibe, Charles Fattal, David Guiraud, Qin Zhang, Artificial movement and gait restoration (DEMAR), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Centre Mutualiste de Réeducation Neurologique Propara (PROPARA), Languedoc Mutualité, Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: medicine.medical_specialty, 0206 medical engineering, Biomedical Engineering, Electric Stimulation Therapy, Stimulation, 02 engineering and technology, Stimulus (physiology), 03 medical and health sciences, Cellular and Molecular Neuroscience, 0302 clinical medicine, Physical medicine and rehabilitation, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Predictive Value of Tests, Median frequency, medicine, Humans, Torque, Spinal cord injury, Spinal Cord Injuries, Neurons, Muscle fatigue, Proprioception, Electromyography, business.industry, Evoked Potentials, Motor, medicine.disease, 020601 biomedical engineering, Electrodes, Implanted, Muscle Fatigue, Neural stimulation, [SDV.NEU]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC], business, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, 030217 neurology & neurosurgery, Follow-Up Studies
Abstract: International audience; In patients with complete spinal cord injury, fatigue occurs rapidly and there is no proprioceptive feedback regarding the current muscle condition. Therefore, it is essential to monitor the muscle state and assess the expected muscle response to improve the current FES system toward adaptive force/torque control in the presence of muscle fatigue. Our team implanted neural and epimysial electrodes in a complete paraplegic patient in 1999. We carried out a case study, in the specific case of implanted stimulation, in order to verify the corresponding torque prediction based on stimulus evoked EMG (eEMG) when muscle fatigue is occurring during electrical stimulation. Indeed, in implanted stimulation, the relationship between stimulation parameters and output torques is more stable than external stimulation in which the electrode location strongly affects the quality of the recruitment. Thus, the assumption that changes in the stimulation-torque relationship would be mainly due to muscle fatigue can be made reasonably. The eEMG was proved to be correlated to the generated torque during the continuous stimulation while the frequency of eEMG also decreased during fatigue. The median frequency showed a similar variation trend to the mean absolute value of eEMG. Torque prediction during fatigue-inducing tests was performed based on eEMG in model cross-validation where the model was identified using recruitment test data. The torque prediction, apart from the potentiation period, showed acceptable tracking performances that would enable us to perform adaptive closed-loop control through implanted neural stimulation in the future.
Published: 2011

36. Multiscale modeling of skeletal muscle properties and experimental validations in isometric conditions

Author: Philippe Poignet, Mitsuhiro Hayashibe, Hassan El Makssoud, Ken Yoshida, David Guiraud, Christine Azevedo-Coste, Pierre-Brice Wieber, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Artificial movement and gait restoration (DEMAR), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Joint Robotics Laboratory [France] (CNRS-AIST JRL), Centre National de la Recherche Scientifique (CNRS)-National Institute of Advanced Industrial Science and Technology (AIST), Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (BIPOP), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Jean Kuntzmann (LJK), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Indiana University - Purdue University Indianapolis (IUPUI), Indiana University System, Center for Sensory-Motor Interaction (SMI), Aalborg University [Denmark] (AAU), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), National Institute of Advanced Industrial Science and Technology (AIST)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Joseph Fourier - Grenoble 1 (UJF)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Joseph Fourier - Grenoble 1 (UJF)-Université Pierre Mendès France - Grenoble 2 (UPMF), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), and Joint Robotics Laboratory (CNRS-AIST JRL )
Subjects: Engineering, General Computer Science, Computation, 0206 medical engineering, Context (language use), 02 engineering and technology, Isometric exercise, Models, Biological, Microscopic scale, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, Isometric Contraction, medicine, Animals, Humans, Computer Simulation, Muscle, Skeletal, Parameters identification, Simulation, business.industry, Stiffness, Kalman filter, 020601 biomedical engineering, Multiscale modeling, Biomechanical Phenomena, Macroscopic scale, Electrical stimulation, [SDV.IB]Life Sciences [q-bio]/Bioengineering, Rabbits, medicine.symptom, Biological system, business, Muscle model, Cybernetics, Kalman filtering, 030217 neurology & neurosurgery, Biotechnology
Abstract: International audience; In this article, we describe an approach to model the electromechanical behavior of the skeletal muscle based on the Huxley formulation. We propose a model that complies with a well established macroscopic behavior of striated muscles where force-length, force-velocity, and Mirsky-Parmley properties are taken into account. These properties are introduced at themicroscopic scale and related to a tentative explanation of the phenomena. The method used integrates behavior ranging from the microscopic to the macroscopic scale, and allows the computation of the dynamics of the output force and stiffness controlled byEMG or stimulation parameters. The model can thus be used to simulate and carry out research to develop control strategies using electrical stimulation in the context of rehabilitation. Finally, through animal experiments, we estimated model parameters using a Sigma Point Kalman Filtering technique and dedicated experimental protocols in isometric conditions and demonstrated that the model can accurately simulate individual variations and thus take into account subject dependent behavior
Published: 2011

37. Muscle fatigue tracking based on stimulus evoked EMG and adaptive torque prediction

Author: Qin Zhang, David Guiraud, Mitsuhiro Hayashibe, Zhang, Qin, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)
Subjects: Engineering, 0206 medical engineering, 02 engineering and technology, Electromyography, Stimulus (physiology), 030218 nuclear medicine & medical imaging, 03 medical and health sciences, 0302 clinical medicine, Control theory, medicine, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Functional electrical stimulation, Torque, medicine.diagnostic_test, Muscle fatigue, business.industry, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Biomechanics, Control engineering, Kalman filter, 020601 biomedical engineering, FES, muscle fatigue, business, Real time tracking, Electromyograph (EMG)
Abstract: International audience; Functional electrical stimulation (FES) is effective to restore movement in spinal cord injured (SCI) subjects. Unfortunately, muscle fatigue constrains the application of FES so that output torque feedback is interesting for fatigue compensation. Whereas, inadequacy of torque sensors is another challenge for FES control. Torque estimation is thereby essential in fatigue tracking task for practical FES employment. In this work, the Hammstein cascade with electromyography (EMG) as input is applied to model the myoelectrical mechanical behavior of the stimulated muscle. Kalman filter with forgetting factor is presented to estimate the muscle model and track fatigue. Fatigue inducing protocol was conducted on three SCI subjects through surface electrical stimulation. Assessment in simulation and with experimental data reveals that the muscle model properly fits the muscle behavior well. Moreover, the time-varying parameters tracking performance in simulation is efficient such that real time tracking is feasible with Kalman filter. The fatigue tracking with experimental data further demonstrates that the proposed method is suitable for fatigue tracking as well as adaptive torque prediction at different prediction horizons.
Published: 2011

38. Advances in Implanted Functional Electrical Stimulation

Author: Serge Bernard, David Guiraud, Guy Cathébras, Fabien Soulier, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), European Project: 224012,EC:FP7:ICT,FP7-ICT-2007-2,TIME(2008), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Engineering, Signal generator, Dynamic range, business.industry, 020208 electrical & electronic engineering, 02 engineering and technology, 03 medical and health sciences, Units of measurement, 0302 clinical medicine, Current mirror, Prototype circuit, 0202 electrical engineering, electronic engineering, information engineering, Electronic engineering, A priori and a posteriori, Functional electrical stimulation, User interface, [SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, business, 030217 neurology & neurosurgery
Abstract: International audience; Implanted functional electrical stimulation (FES) has been successfully used in a large set of applications linked to organic deficiencies and sensory disabilities. More recent attempts have been made to use implanted FES for movements or functions restoration in para- and quadriplegic patients. Unfortunately, standing and walking still remain unsatisfactory at the moment. Although not optimal, FES systems remain the only products on offer for movement restoration in a daily use context. The main drawbacks of the technique are well known and include insufficient reliability, the complexity of the surgery, limited stim- ulation selectivity and efficiency, non-physiological recruitment of motor units and the complexity of muscle control. To improve this selectivity, both electrode geometry and current shape have to be explored. A programmable multidimensional stimulus waveform gener- ator provides the opportunity to conduct research on artificial- to-natural interfaces in order to achieve efficient and minimally aggressive activation. Thus, our team has developed a new archi- tecture for advanced implanted FES: we designed and prototyped the basic elements of a network of distributed stimulation and measurement units. We designed the architecture taking into account the a priori constraints and requirements in terms of performance, safety, stimulation sites, as well as diversity in the stimulation profiles to address selectivity issues in nerve fiber recruitment. We choose a power-efficient microstimulator design where the stimulation current generated by a single source is then distributed on the outputs according to programmable ratios. The prototype circuit based on current mirrors guarantees constant ratios between channels all over the dynamic range. It uses a high-voltage technology (0.35 µm AMS HV) and can deal with adaptive power supply up to 20 V.
Published: 2011

39. Computer-based remote programming and control of stimulation units

Author: David Andreu, Robin Passama, David Guiraud, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), European Project: 224012,EC:FP7:ICT,FP7-ICT-2007-2,TIME(2008), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)
Subjects: business.industry, Computer science, Process (engineering), 0206 medical engineering, Control (management), Context (language use), 02 engineering and technology, 020601 biomedical engineering, 03 medical and health sciences, 0302 clinical medicine, Software, Software deployment, Embedded system, Specialization (functional), [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], User interface, Architecture, business, Software engineering, 030217 neurology & neurosurgery
Abstract: International audience; This paper describes the architecture of the functional electrical stimulation systems developed in the context of the TIME European project. Contributions are the definition of a generic FES architecture and the specialization of this architecture, depending on the applicative context, by the deployment, the programming and the control of hardware units, notably stimulation ones. This specialization process is managed by a dedicated software environment, named SENIS Manager.
Published: 2011

40. Nonlinear Identification Method Corresponding to Muscle Property Variation in FES - Experiments in Paraplegic Patients

Author: David Guiraud, Charles Fattal, Mitsuhiro Hayashibe, Mourad Benoussaad, Philippe Poignet, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Centre Mutualiste de Réeducation Neurologique Propara (PROPARA), Languedoc Mutualité, Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)
Subjects: Muscle fatigue, Property (programming), Estimation theory, Noise (signal processing), Computer science, 0206 medical engineering, Biomechanics, Control engineering, 02 engineering and technology, 020601 biomedical engineering, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, 03 medical and health sciences, Nonlinear system, 0302 clinical medicine, Control theory, Functional electrical stimulation, Rehabilitation robotics, 030217 neurology & neurosurgery
Abstract: International audience; A model-based Functional Electrical Stimulation (FES) would be very helpful for the adaptive movement synthesis of spinal-cord-injured patients. The nonlinearity of the neuromuscular system can be captured through modeling and identification process. However, there are still critical limitations in FES: rapid muscle fatigue and time-varying property. In actual FES, in order to minimize the fatigue, the intermittent stimulation is adopted. In this case, fatigue and recovery occur in sequence. Thus, the time-varying muscle response is really difficult to be predicted for FES force control. In this paper, we propose an identification method to identify unknown internal states and the maximal force parameter which are inside the nonlinear differential equation. Among the internal parameters of muscle model, maximal force Fm should be mainly changed corresponding to the current muscle condition. Muscle fatigue or recovery itself is difficult to be modeled and predicted, however observing the input-output information from the muscle, the adaptive estimation will be achieved to correspond to the varying muscle response effected by a fatigue or unknown metabolic factor of human system. This identification method itself can be expected to be applied for general use in rehabilitation robotics.
Published: 2010

41. Torque Prediction Using Stimulus Evoked EMG and its Identification for Different Muscle Fatigue States in SCI Subjects

Author: Philippe Fraisse, Qin Zhang, Mitsuhiro Hayashibe, Charles Fattal, Maria Papaiordanidou, David Guiraud, Artificial movement and gait restoration (DEMAR), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Efficience Déficience Motrice [Montpellier] (EDM), Université Montpellier 1 (UM1), Centre Mutualiste de Réeducation Neurologique Propara (PROPARA), Languedoc Mutualité, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Adult, Male, medicine.medical_specialty, Computer science, 0206 medical engineering, 02 engineering and technology, Electromyography, Stimulus (physiology), Models, Biological, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, Physical medicine and rehabilitation, Triceps surae muscle, spinal cord injury (SCI), medicine, Humans, Torque, Computer Simulation, Muscle, Skeletal, Spinal Cord Injuries, Muscle force, Stimulus evoked EMG, medicine.diagnostic_test, Muscle fatigue, Biomechanics, 030229 sport sciences, Middle Aged, 020601 biomedical engineering, Electric Stimulation, medicine.anatomical_structure, Electrical stimulation, Female, muscle fatigue, [SDV.IB]Life Sciences [q-bio]/Bioengineering, medicine.symptom, Ankle, Algorithms, Muscle Contraction, Muscle contraction
Abstract: International audience; Muscle fatigue is an unavoidable problem when electrical stimulation is applied to paralyzed muscles. The detection and compensation of muscle fatigue is essential to avoid movement failure and achieve desired trajectory. This work aims to predict ankle plantar-flexion torque using stimulus evoked EMG (eEMG) during different muscle fatigue states. Five spinal cord injured patients were recruited for this study. An intermittent fatigue protocol was delivered to triceps surae muscle to induce muscle fatigue. A hammerstein model was used to capture the muscle contraction dynamics to represent eEMG-torque relationship. The prediction of ankle torque was based on measured eEMG and past measured or past predicted torque. The latter approach makes it possible to use eEMG as a synthetic force sensor when force measurement is not available in daily use. Some previous researches suggested to use eEMG information directly to detect and predict muscle force during fatigue assuming a fixed relationship between eEMG and generated force. However, we found that the prediction became less precise with the increase of muscle fatigue when fixed parameter model was used. Therefore, we carried out the torque prediction with an adaptive parameters using the latest measurement. The prediction of adapted model was improved with 16.7\%-50.8\% comparing to the fixed model.
Published: 2010

42. Interpretation of muscle spindle afferent nerve response to passive muscle stretch recorded with thin-film longitudinal intrafascicular electrodes

Author: Christine Azevedo-Coste, Ken Yoshida, David Guiraud, M. Djilas, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Artificial movement and gait restoration (DEMAR), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Center for Sensory-Motor Interaction (SMI), Aalborg University [Denmark] (AAU), Indiana University - Purdue University Indianapolis (IUPUI), Indiana University System, Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)
Subjects: 0206 medical engineering, Muscle spindle, Biomedical Engineering, Action Potentials, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, Neuromuscular stimulation, Afferent, Physical Stimulation, Internal Medicine, medicine, Animals, Muscle, Skeletal, Muscle Spindles, Afferent Pathways, General Neuroscience, Rehabilitation, Anatomy, Neurophysiology, 020601 biomedical engineering, Muscle stretch, Electrodes, Implanted, medicine.anatomical_structure, Joint angle, Electrode, [SDV.NEU]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC], Rabbits, 030217 neurology & neurosurgery
Abstract: International audience; In this study, we explored the feasibility of estimating muscle length in passive conditions by interpreting nerve responses from muscle spindle afferents recorded with thin-film longitudinal intrafascicular electrodes. Afferent muscle spindle response to passive stretch was recorded in ten acute rabbit experiments. A newly proposed first-order model of muscle spindle response to passive sinusoidal muscle stretch manages to capture the relationship between afferent neural firing rate and muscle length. We demonstrate that the model can be used to track random motion trajectories with bandwidth from 0.1 to 1 Hz over a range of 4 mm with a muscle length estimation error of 0.3 mm (1.4deg of joint angle). When estimation is performed using four-channel ENG there is a 50% reduction in estimate variation, compared to using single-channel recordings.
Published: 2009

43. Simulating the Human Motion under Functional Electrical Stimulation using the HuMAnS Toolbox

Author: Martine Eckert, Pierre Brice Wieber, Philippe Fraisse, Mitsuhiro Hayashibe, David Guiraud, IMERIR, CCI des Pyrénées Orientales, Artificial movement and gait restoration (DEMAR), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems (BIPOP), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Jean Kuntzmann (LJK), Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Joseph Fourier - Grenoble 1 (UJF)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Joseph Fourier - Grenoble 1 (UJF)-Université Pierre Mendès France - Grenoble 2 (UPMF), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Nadia Magnenat-Thalmann and Jian J. Zhang and David D. Feng, Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), and Eckert, Martine
Subjects: 0209 industrial biotechnology, Motion analysis, Engineering, 0206 medical engineering, 02 engineering and technology, Hill's muscle model, 020901 industrial engineering & automation, medicine, Functional electrical stimulation, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Simulation, Functional movement, Functional Electrical Stimulation, business.industry, 3D Biomechanical Model of Human, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Work (physics), Skeletal muscle, Human motion, 020601 biomedical engineering, Toolbox, Models of Skeletal Muscles, medicine.anatomical_structure, business, Neuroscience
Abstract: Mathematical models of the skeletal muscle can support the development of neuroprostheses to restore functional movements in individuals with motor deficiencies by means of XE “Functional electrical stimulation (XE “FES” ). Since many years, numerous skeletal muscle models have been proposed to express the relationship between muscle activation and generated force. One of them (Makssoud et al.), integrates the Hill model and the physiological one based on Huxley work allowing the muscle activation under FES. We propose in this chapter an improvement of this model by modifying the activation part. These improvements are highlighted through the HuMAnS (Humanoid Motion Analysis and Simulation) toolbox using a 3D biomechanical model of human named Human 36. This chapter describes this toolbox and the software implementation of the model. Then, we present the results of the simulation.
Published: 2009

44. EMG-to-force estimation with full-scale physiology based muscle model

Author: Philippe Poignet, Mitsuhiro Hayashibe, David Guiraud, Artificial movement and gait restoration (DEMAR), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Engineering, Motion analysis, medicine.diagnostic_test, Property (programming), business.industry, 0206 medical engineering, Physiology, 02 engineering and technology, Electromyography, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, 020601 biomedical engineering, Microscopic scale, Exoskeleton, physiology based muscle model, 03 medical and health sciences, 0302 clinical medicine, Phenomenological model, medicine, Functional electrical stimulation, [SDV.IB]Life Sciences [q-bio]/Bioengineering, business, Rehabilitation robotics, EMG-to-force estimation, 030217 neurology & neurosurgery
Abstract: International audience; EMG-to-force estimation for voluntary muscle contraction has many applications in human-machine interaction, motion analysis, and rehabilitation robotics for prosthetic limbs or exoskeletons. EMG-based model can account for a subject's individual activation patterns to estimate muscle force. For the estimation, so-called Hill-type model has been used in most of the cases. It already has shown its promising performance, but it is still known as a phenomenological model considering only macroscopic physiology. We have already developed the physiological based muscle model for the use of functional electrical stimulation (FES) which can render the myoelectrical property also in microscopic scale. In this paper we discuss EMG-to-force estimation based on this full physiological based muscle model in voluntary contraction. In addition to Hill macroscopic structure, a microscopic physiology originally designed by Huxley is integrated. It has significant meaning to realize the same kind of EMG-to-force estimation with a physiological based model not with a phenomenological model, because it brings the understanding of the internal biophysical dynamics and new insights about neuromuscular activations. Using same EMG data of isometric muscle contraction, the force estimation results are shown by classical approach and new physiological based approach. Its interpretation is also discussed.
Published: 2009

45. Physiological musculoskeletal model identification for the lower limbs control of paraplegic under implanted FES

Author: Philippe Poignet, David Guiraud, Mourad Benoussaad, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: medicine.medical_specialty, Musculoskeletal system, business.industry, Rehabilitation by FES, 0206 medical engineering, System identification, Biomechanics, Quadriceps muscle, 02 engineering and technology, Knee Joint, Neurophysiology, 020601 biomedical engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, Identification (information), 0302 clinical medicine, Physical medicine and rehabilitation, Parameters Identification, Medicine, Functional electrical stimulation, Biomechanical model, business, 030217 neurology & neurosurgery
Abstract: International audience; This paper concerns the whole physiological parameters identification of a musculoskeletal model of a human subject. The patient is equipped with an implanted Functional Electrical Stimulation (FES) system as part of the SUAW's European project [1]. The biomechanical model represents the knee and its associated muscles. The identification protocol is noninvasive and based on the in-vivo experimental data acquisition of a Spinal Cord Injured (SCI) patient. However, the human noninvasive identification poses problems of naccessibility to some data. The identification procedure consists of several steps, in order to identify: the anthropometrical parameters, the geometrical parameters, the joint mechanical parameters, the force-length relationship and the recruitment function. Up to now, only the quadriceps muscle is considered with the knee joint in the identification procedure. A cross-validation has been done using data set not used during the identification process. The identified model shows a satisfactory response comparing to the measured knee response, which is obtained by stimulating the quadriceps through the implanted FES system. In this work, knee model-parameters of the implanted subject were identified successfully using the noninvasive identification procedure.
Published: 2009

46. EMG-Based Neuromuscular Modeling with Full Physiological Dynamics and Its Comparison with Modified Hill Model

Author: Mitsuhiro Hayashibe, David Guiraud, Philippe Poignet, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Engineering, Quantitative Biology::Tissues and Organs, Physics::Medical Physics, 0206 medical engineering, Models, Neurological, Action Potentials, 02 engineering and technology, Electromyography, Hill's muscle model, 03 medical and health sciences, 0302 clinical medicine, Voluntary contraction, Isometric Contraction, Phenomenological model, medicine, Humans, Computer Simulation, Representation (mathematics), Rehabilitation robotics, Muscle, Skeletal, Simulation, EMG-Based Neuromuscular Modeling, medicine.diagnostic_test, business.industry, Neurophysiology, 020601 biomedical engineering, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Muscle Force Estimation, Dynamics (music), Physiological Dynamics, Artificial intelligence, business, 030217 neurology & neurosurgery, Algorithms
Abstract: International audience; EMG-based muscle model has many applications in human-machine interface and rehabilitation robotics. For the muscular force estimation, so-called Hill-type model has been used in most of the cases. It has already shown its promising performance, however it is known as a phenomenological model considering only macroscopic physiology. In this paper, we discuss EMG-force estimation with the full physiology based muscle model in voluntary contraction. In addition to Hill macroscopic representation, a microscopic physiology description as stated by Huxley and Zahalak is integrated. It has significant meaning to realize the same kind of EMG-force estimation with multiscale physiology based model not with a phenomenological Hill model, because it brings the understanding of the internal biophysical dynamics and new insights about neuromuscular activations.
Published: 2009

47. Design of Nerve Signal Biosensor

Author: Guy Cathébras, Olivier Rossel, Fabien Soulier, Serge Bernard, David Guiraud, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), IEEE, Soulier, Fabien, Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Engineering, Preamplifier, business.industry, [SPI.NANO] Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, 0206 medical engineering, Emphasis (telecommunications), Context (language use), 02 engineering and technology, Integrated circuit design, Analog signal processing, 020601 biomedical engineering, Signal, 03 medical and health sciences, 0302 clinical medicine, Application-specific integrated circuit, Electronic engineering, Biosignal, [SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, business, 030217 neurology & neurosurgery
Abstract: International audience; In the context of functional electrical stimulation (FES), it would be of great interest to get reliable sensitive information directly from the nerve signals. To achieve the chronic recording of electrical activity of the axons it is necessary to develop the electrode and the associated implantable integrated circuit ASIC. In this paper, we have proposed a novel design of multipolar cuff electrodes. This design is closely linked to a low-level analog signal processing assigned to a dedicated preamplifier. This paper presents the system-oriented development of this biosignal sensor, from the modeling of the neurons and the electrode to the microcircuit design. We put emphasis on the simulation of the action potential to assist the sensor specification.
Published: 2009

48. Optimal Functional Electrical Stimulation patterns synthesis for knee joint control

Author: David Guiraud, Philippe Poignet, Mourad Benoussaad, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)
Subjects: musculoskeletal diseases, Engineering, business.industry, 0206 medical engineering, Work (physics), Robotics, 02 engineering and technology, Knee Joint, Motion control, 020601 biomedical engineering, Nonlinear programming, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Tracking error, 03 medical and health sciences, 0302 clinical medicine, Control theory, Trajectory, Functional electrical stimulation, Artificial intelligence, business, 030217 neurology & neurosurgery
Abstract: The work presented in this paper concerns the synthesis of Functional Electrical Stimulation (FES) patterns to generate movements of paralysed limbs for spinal cord injured patients. We propose an approach based on a nonlinear optimization formulation that may encounter physiological and technological constraints. The study considers a biomechanical knee model and the associated agonist/antagonist muscles. The goal of this method is to synthesize optimal patterns which minimize the muscular activities and/or tracking trajectory errors in order to reduce the muscular fatigue while achieving a desired movement. Different tests have been performed and the results compared with regard to the energetic balance. The approach is illustrated in simulation with: 1) sinusoidal desired knee joint trajectory, 2) optimal reference knee joint trajectory and 3) without explicit reference knee joint trajectory. The simulations have been performed with model parameters estimated from real subject data. We show that the trajectory tracking presents high energy consumption which demonstrates the inappropriateness of classical robotics methods for musculoskeletal system. Instead, minimization of muscle activation only gives better results with regard to energy consumption, still with a reasonnable trajectory tracking error.
Published: 2008

49. Low-Noise Averaging Amplifier Dedicated to ENG Recording with Hexagonal Cuff Electrode

Author: L. Gouyet, David Guiraud, G. Cathebras, F. Soulier, Yves Bertrand, Serge Bernard, Artificial movement and gait restoration (DEMAR), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)
Subjects: Engineering, Preamplifier, 0206 medical engineering, 02 engineering and technology, law.invention, classical tripolar cuff electrode, law, transistor levels, Electroneurogram, 0202 electrical engineering, electronic engineering, information engineering, Electronic engineering, Functional electrical stimulation, artificial muscle contractions, [SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, feedback information, impaired biological functions, signal processing, Signal processing, closed-loop FES system, preamplifiers, business.industry, Amplifier, ENG recording, 020208 electrical & electronic engineering, Bandwidth (signal processing), Transistor, hexagonal cuff electrode, 020601 biomedical engineering, Electrode, electroneurogram recording, spinal cord injuries, business, low-noise averaging amplifier, sensory information acquisition
Abstract: International audience; In the case of spinal cord injurie, Functional Electrical Stimulation, which creates artificial muscle contractions by electrical stimulation, has proven to be capable of helping to restore impaired biological functions. Sensory information from natural sensors going through afferent nervous fibers could be used as feedback information in a closed-loop FES system. In order to get this information, we propose a new multipolar cuff electrode with hexagonal patterns as well as first elements of signal processing and amplification. The hexagonal cuff electrode presented in this paper allows higher sensitivity and a better rejection of parasitic signals than a classical tripolar cuff electrode. The preamplifier associated with this electrode presents the asset to integrate, at the transistor levels, a rejection technique of parasitic signals based on the average. This technique is used to perform electroneurogram (ENG) recording. This integration at the transistor level allows us to reduce the noise level due to processing electronics during sensory information acquisition.
Published: 2008

50. Multipolar Electrode and Preamplifier Design for ENG-Signal Acquisition

Author: Serge Bernard, Yves Bertrand, David Guiraud, Lionel Gouyet, Fabien Soulier, Guy Cathébras, Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Conception et Test de Systèmes MICroélectroniques (SysMIC), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Ana Fred, Joaquim Filipe, Hugo Gamboa, Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Materials science, Computer simulation, business.industry, Noise (signal processing), Preamplifier, Acoustics, 020208 electrical & electronic engineering, 0206 medical engineering, 02 engineering and technology, musculoskeletal system, Analog signal processing, 020601 biomedical engineering, Signal, nervous system, Electrode, Cuff, 0202 electrical engineering, electronic engineering, information engineering, [SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, Telecommunications, business, Sensitivity (electronics)
Abstract: International Joint Conference, BIOSTEC 2008 Funchal, Madeira, Portugal, January 28-31, 2008 (Revised Selected Papers); International audience; Cuff electrodes have several advantages for in situ recording ENG signal. They are easy to implant and not very invasive for the patient. Nevertheless, they are subject to background parasitic noise, especially the EMG generated by the muscles. We show that the use of cuff electrodes with large numbers of poles can increase their sensitivity and their selectivity with respect to an efficient noise rejection. We investigate several configurations and compare the performances of a tripolar cuff electrode versus a multipolar one in numerical simulation. One the other hand the use of cuff electrodes leads to the recording of the sum of the signals generated by all the axons within the nerve. This puts in evidence the need of signal separation techniques that require a great quantity of information. Again, we show that multipolar electrodes can solve this problem since poles can be switched one to another, provided that they are distributed along a regular tessellation. Finally, we present the structure of an ASIC preamplifier processing a spatial filtering to obtain the Laplacian of the potential rejecting low-frequency noise.
Published: 2008

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