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Pattern recognition and regression methods applied to the surface EMG have been used for estimating the user intended motor tasks across multiple degrees of freedom (DOF), for prosthetic control. While these methods are effective in several conditions, they are still characterized by some shortcomings. In this study we propose a methodology that combines these two approaches for mutually alleviating their limitations. This resulted in a control method capable of context-dependent movement estimation that switched automatically between sequential (one DOF at a time) or simultaneous (multiple DOF) prosthesis control, based on an online estimation of signal dimensionality. The proposed method was evaluated in scenarios close to real-life situations, with the control of a physical prosthesis in applied tasks of varying difficulties. Test prostheses were individually manufactured for both able-bodied and transradial amputee subjects. With these prostheses, two amputees performed the Southampton Hand Assessment Procedure test with scores of 58 and 71 points. The five able-bodied individuals performed standardized tests, such as the box&block and clothes pin test, reducing the completion times by up to 30%, with respect to using a state-of-the-art pure sequential control algorithm. Apart from facilitating fast simultaneous movements, the proposed control scheme was also more intuitive to use, since human movements are predominated by simultaneous activations across joints. The proposed method thus represents a significant step towards intelligent, intuitive and natural control of upper limb prostheses.

© 2015 Gonzalez-Vargas et al., Modern assistive devices are very sophisticated systems with multiple degrees of freedom. However, an effective and user-friendly control of these systems is still an open problem since conventional human-machine interfaces (HMI) cannot easily accommodate the system’s complexity. In HMIs, the user is responsible for generating unique patterns of command signals directly triggering the device functions. This approach can be difficult to implement when there are many functions (necessitating many command patterns) and/or the user has a considerable impairment (limited number of available signal sources). In this study, we propose a novel concept for a general-purpose HMI where the controller and the user communicate bidirectionally to select the desired function. The system first presents possible choices to the user via electro-tactile stimulation; the user then acknowledges the desired choice by generating a single command signal. Therefore, the proposed approach simplifies the user communication interface (one signal to generate), decoding (one signal to recognize), and allows selecting from a number of options. To demonstrate the new concept the method was used in one particular application, namely, to implement the control of all the relevant functions in a state of the art commercial prosthetic hand without using any myoelectric channels. We performed experiments in healthy subjects and with one amputee to test the feasibility of the novel approach. The results showed that the performance of the novel HMI concept was comparable or, for some outcome measures, better than the classic myoelectric interfaces. The presented approach has a general applicability and the obtained results point out that it could be used to operate various assistive systems (e.g., prosthesis vs. wheelchair), or it could be integrated into other control schemes (e.g., myoelectric control, brain-machine interfaces) in order to improve the usability of existing low-bandwidth HMIs., This work was supported by the Japanese Society for Promotion of Science (JSPS) Grant for Researcher Dispatch Program-International Network of Advanced Medical Engineering using Bio-robotics Technology (2009-2012), European Commission under the MYOSENS (FP7-PEOPLE-2011-IAPP-286208) project and by the German Ministry for Education and Research (BMBF) via the Bernstein Focus Neurotechnology (BFNT) Gottingen under Grant 01GQ0810.

In recent years, many sophisticated control strategies for multifunctional dexterous hand prostheses have been developed. It was indeed assumed that control mechanisms based on switching between degrees of freedom, which are in use since the 1960's, could not be extended to efficient control of more than two degrees of freedom. However, quantitative proof for this assumption has not been shown. In this study, we adopted the mode switching paradigm available in commercial prostheses for two degree of freedom control and we extended it for the control of seven functions (3.5 degrees of freedom) in a modern robotic hand. We compared the controllability of this scaled version of the standard method to a state of the art pattern recognition based control in an applied online study. The aim was to quantify whether multi-functional prosthetic control with mode switching outperformed pattern recognition in the control of a real prosthetic hand for daily life activities online. Although in simple grasp-release tasks the conventional method performed best, tasks requiring more complex control of multiple degrees of freedom required a more intuitive control method, such as pattern recognition, for achieving high performance.

Functional replacement of upper limbs by means of dexterous prosthetic devices remains a technological challenge. While the mechanical design of prosthetic hands has advanced rapidly, the human-machine interfacing and the control strategies needed for the activation of multiple degrees of freedom are not reliable enough for restoring hand function successfully. Machine learning methods capable of inferring the user intent from EMG signals generated by the activation of the remnant muscles are regarded as a promising solution to this problem. However, the lack of robustness of the current methods impedes their routine clinical application. In this study, we propose a novel algorithm for controlling multiple degrees of freedom sequentially, inherently proportionally and with high robustness, allowing a good level of prosthetic hand function. The control algorithm is based on the spatial linear combinations of amplitude-related EMG signal features. The weighting coefficients in this combination are derived from the optimization criterion of the common spatial patterns filters which allow for maximal discriminability between movements. An important component of the study is the validation of the method which was performed on both able-bodied and amputee subjects who used physical prostheses with customized sockets and performed three standardized functional tests mimicking daily-life activities of varying difficulty. Moreover, the new method was compared in the same conditions with one clinical/industrial and one academic state-of-the-art method. The novel algorithm outperformed significantly the state-of-the-art techniques in both subject groups for tests that required the activation of more than one degree of freedom. Because of the evaluation in real time control on both able-bodied subjects and final users (amputees) wearing physical prostheses, the results obtained allow for the direct extrapolation of the benefits of the proposed method for the end users. In conclusion, the method proposed and validated in real-life use scenarios, allows the practical usability of multifunctional hand prostheses in an intuitive way, with significant advantages with respect to previous systems.

The robustness of myo-electric prosthesis usage is largely influenced by user performance, where psychological factors (i.e. cognitive-skills, motor-skills and psychological status - such as motivation, will, and stress) play a prominent role. These factors become more important the more degrees of freedom (DOF) a multifunctional prosthesis provides. Despite the large amount of research efforts during the past decades on developing robust control and feedback methods, there has been limited attention on the importance of the aforementioned human factors on the usability of the prosthesis. Psychometric measures are necessary to get a better view on user-ability in prosthesis control. To achieve this aim, the work presented herein applies Item-Response Theory (IRT), which is a psychometric instrument that has been well established for testing human abilities, to introduce a novel score of user performance. This score can be utilized to judge the user's performance at different stages of training, which means measuring improvement or deterioration in movement muscle control according to training activities. As pattern recognition is the control method of choice, classification-rate is taken as second information on the discrimination and repeatability of the recorded movement related EMG patterns. It is used to update the IRT score by taking the joint probability, which combines both measures to determine then the user performance score in a more meaningful way. The score was calibrated on well-trained, able-bodied subjects, who act as a “gold” standard when their movement error was below a certain threshold. Then four amputees with different training experience were selected and it was verified that the score could distinguish between them.

We present the real time simultaneous and proportional control of two degrees of freedom (DoF), using surface electromyographic signals from the residual limbs of three subject with limb deficiency. Three subjects could control a virtual object in two dimensions using their residual muscle activities to achieve goal-oriented tasks. The subjects indicated that they found the control intuitive and useful. These results show that such a simultaneous and proportional control paradigm is a promising direction for multi-functional prosthetic control.

We present a versatile and compact electron beam driven source for alkali metal atoms, which can be implemented in cryostats. With a heat load of less than 10mW, the heat dissipation normalized to the atoms loaded into the magneto-optical Trap (MOT), is about a factor 1000 smaller than for a typical alkali metal dispenser. The measured linear scaling of the MOT loading rate with electron current observed in the experiments, indicates that electron stimulated desorption is the corresponding mechanism to release the atoms., 5 pages, 3 figures

Knee dislocations usually can be treated by closed reduction, although a small number must be reduced surgically. A seventy-three-year-old patient sustained a knee dislocation while skiing, with entrapment of the medial capsule and the medial retinaculum in the femoral notch. There was no evidence of any vascular or nerve injury. Open reduction with transverse dissection of the medial retinaculum led to reduction. We achieved an excellent result by external fixation and early aggressive rehabilitation without repair of the avulsed cruciate ligaments.