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Operating a body-powered prosthesis can be painful and tiring due to high cable operation forces, illustrating that low cable operation forces are a desirable design property for body-powered prostheses. However, lower operation forces might negatively affect controllability and force perception, which is plausible but not known. This study aims to quantify the accuracy of cable force perception and control for body-powered prostheses in a low cable operation force range by utilizing isometric and dynamic force reproduction experiments. Twenty-five subjects with trans-radial absence conducted two force reproduction tasks; first an isometric task of reproducing 10, 15, 20, 25, 30 or 40 N and second a force reproduction task of 10 and 20 N, for cable excursions of 10, 20, 40, 60 and 80 mm. Task performance was quantified by the force reproduction error and the variability in the generated force. The results of the isometric experiment demonstrated that increasing force levels enlarge the force variability, but do not influence the force reproduction error for the tested force range. The second experiment showed that increased cable excursions resulted in a decreased force reproduction error, for both tested force levels, whereas the force variability remained unchanged. In conclusion, the design recommendations for voluntary closing body-powered prostheses suggested by this study are to minimize cable operation forces: this does not affect force reproduction error but does reduce force variability. Furthermore, increased cable excursions facilitate users with additional information to meet a target force more accurately., Biomechatronics & Human-Machine Control, Human-Robot Interaction

Operating a body-powered prosthesis can be painful and tiring due to high cable operation forces, illustrating that low cable operation forces are a desirable design property for body-powered prostheses. However, lower operation forces might negatively affect controllability and force perception, which is plausible but not known. This study aims to quantify the accuracy of cable force perception and control for body-powered prostheses in a low cable operation force range by utilizing isometric and dynamic force reproduction experiments. Twenty-five subjects with trans-radial absence conducted two force reproduction tasks; first an isometric task of reproducing 10, 15, 20, 25, 30 or 40 N and second a force reproduction task of 10 and 20 N, for cable excursions of 10, 20, 40, 60 and 80 mm. Task performance was quantified by the force reproduction error and the variability in the generated force. The results of the isometric experiment demonstrated that increasing force levels enlarge the force variability, but do not influence the force reproduction error for the tested force range. The second experiment showed that increased cable excursions resulted in a decreased force reproduction error, for both tested force levels, whereas the force variability remained unchanged. In conclusion, the design recommendations for voluntary closing body-powered prostheses suggested by this study are to minimize cable operation forces: this does not affect force reproduction error but does reduce force variability. Furthermore, increased cable excursions facilitate users with additional information to meet a target force more accurately., Biomechatronics & Human-Machine Control, Human-Robot Interaction

Background: Body-powered prostheses require cable operation forces between 33 and 131 N. The accepted upper limit for fatigue-free long-duration operation is 20% of a users’ maximum cable operation force. However, no information is available on users’ maximum force. Objectives: To quantify users’ maximum cable operation force and to relate this to the fatigue-free force range for the use of body-powered prostheses. Study design: Experimental trial. Methods: In total, 23 subjects with trans-radial deficiencies used a bypass prosthesis to exert maximum cable force three times during 3 s and reported discomfort or pain on a body map. Additionally, subjects’ anthropometric measures were taken to relate to maximum force. Results: Subjects generated forces ranging from 87 to 538 N. Of the 23 subjects, 12 generated insufficient maximum cable force to operate 8 of the 10 body-powered prostheses fatigue free. Discomfort or pain did not correlate with the magnitude of maximum force achieved by the subjects. Nine subjects indicated discomfort or pain. No relationships between anthropometry and maximal forces were found except for maximum cable forces and the affected upper-arm circumference for females. Conclusion: For a majority of subjects, the maximal cable force was lower than acceptable for fatigue-free prosthesis use. Discomfort or pain occurred in ~40% of the subjects, suggesting a suboptimal force transmission mechanism. Clinical relevance: The physical strength of users determines whether a body-powered prosthesis is suitable for comfortable, fatigue-free long-duration use on a daily basis. High cable operation forces can provoke discomfort and pain for some users, mainly in the armpit. Prediction of the users’ strength by anthropometric measures might assist the choice of a suitable prosthesis., Biomechatronics & Human-Machine Control

Background: Body-powered prostheses require cable operation forces between 33 and 131 N. The accepted upper limit for fatigue-free long-duration operation is 20% of a users’ maximum cable operation force. However, no information is available on users’ maximum force. Objectives: To quantify users’ maximum cable operation force and to relate this to the fatigue-free force range for the use of body-powered prostheses. Study design: Experimental trial. Methods: In total, 23 subjects with trans-radial deficiencies used a bypass prosthesis to exert maximum cable force three times during 3 s and reported discomfort or pain on a body map. Additionally, subjects’ anthropometric measures were taken to relate to maximum force. Results: Subjects generated forces ranging from 87 to 538 N. Of the 23 subjects, 12 generated insufficient maximum cable force to operate 8 of the 10 body-powered prostheses fatigue free. Discomfort or pain did not correlate with the magnitude of maximum force achieved by the subjects. Nine subjects indicated discomfort or pain. No relationships between anthropometry and maximal forces were found except for maximum cable forces and the affected upper-arm circumference for females. Conclusion: For a majority of subjects, the maximal cable force was lower than acceptable for fatigue-free prosthesis use. Discomfort or pain occurred in ~40% of the subjects, suggesting a suboptimal force transmission mechanism. Clinical relevance: The physical strength of users determines whether a body-powered prosthesis is suitable for comfortable, fatigue-free long-duration use on a daily basis. High cable operation forces can provoke discomfort and pain for some users, mainly in the armpit. Prediction of the users’ strength by anthropometric measures might assist the choice of a suitable prosthesis., Biomechatronics & Human-Machine Control

Cortical responses to continuous stimuli as recorded using either magneto- or electroencephalography (EEG) have shown power at harmonics of the stimulated frequency, indicating nonlinear behavior. Even though the selection of analysis techniques depends on the linearity of the system under study, the importance of nonlinear contributions to cortical responses has not been formally addressed.The goal of this paper is to quantify the nonlinear contributions to the cortical response obtained fromcontinuous sensory stimulation. EEG was used to record the cortical response evoked by continuousmovement of the wrist joint of healthy subjects applied with a robotic manipulator. Multisine stimulus signals (i.e., the sum of several sinusoids) elicit a periodic cortical response and allowto assess the nonlinear contributions to the response.Wrist dynamics (relation between joint angle and torque) were successfully linearized, explaining 99% of the response. In contrast, the cortical response revealed a highly nonlinear relation; where most power ( ∼ 80%) occurred at non-stimulated frequencies. Moreover, only 10% of the response could be explained using a nonparametric linear model. These results indicate that the recorded evoked cortical responses are governed by nonlinearities and that linear methods do not suffice when describing the relation between mechanical stimulus and cortical response., Accepted Author Manuscript, Biomechatronics & Human-Machine Control

Cortical responses to continuous stimuli as recorded using either magneto- or electroencephalography (EEG) have shown power at harmonics of the stimulated frequency, indicating nonlinear behavior. Even though the selection of analysis techniques depends on the linearity of the system under study, the importance of nonlinear contributions to cortical responses has not been formally addressed.The goal of this paper is to quantify the nonlinear contributions to the cortical response obtained fromcontinuous sensory stimulation. EEG was used to record the cortical response evoked by continuousmovement of the wrist joint of healthy subjects applied with a robotic manipulator. Multisine stimulus signals (i.e., the sum of several sinusoids) elicit a periodic cortical response and allowto assess the nonlinear contributions to the response.Wrist dynamics (relation between joint angle and torque) were successfully linearized, explaining 99% of the response. In contrast, the cortical response revealed a highly nonlinear relation; where most power ( ∼ 80%) occurred at non-stimulated frequencies. Moreover, only 10% of the response could be explained using a nonparametric linear model. These results indicate that the recorded evoked cortical responses are governed by nonlinearities and that linear methods do not suffice when describing the relation between mechanical stimulus and cortical response., Accepted Author Manuscript, Biomechatronics & Human-Machine Control

The accuracy of EEG source localization depends on the choice of the inverse method, the resolution of the forward model, and the signal to noise ratio (SNR) of the recordings. Since we are interested in disentangling sources in proximity, the goal of our study is to examine the sensitivity of spatial resolution of EEG source reconstruction to a wide variety of factors like reconstruction method, SNR, orientation, inter-dipole distance and depth of the simulated dipoles, etc. We simulated time series to resemble waveforms of somatosensory evoked potentials. Inter-dipole distances and different dipole orientations were investigated as well as the effect of (realistic) noise. We employed both spherical and realistic head models. Source reconstruction was realized using a conventional stationary dipole model, MUSIC, self-consistent MUSIC (SC-MUSIC) algorithm, and e-LORETA. In addition to the above mentioned methods, a new approach is tested building upon the e-LORETA solution: the topography of the maximum of the e-LORETA distribution is projected out of the data before calculating the next e-LORETA inverse solution in a iterative process. The quality of fit (or localization) was defined as the distance between the simulated point- sources and either the estimated point-sources or the activity distributions by means of the Euclidean distance or of the Earth Mover’’s Distance, respectively. As expected, inter-dipole distances played an important role in the ability of every method to disentangle the simulated sources. Overall, SC-MUSIC appeared best suited for disentangling the two simulated sources even at high-noise simulations., Biomechatronics & Human-Machine Control

The accuracy of EEG source localization depends on the choice of the inverse method, the resolution of the forward model, and the signal to noise ratio (SNR) of the recordings. Since we are interested in disentangling sources in proximity, the goal of our study is to examine the sensitivity of spatial resolution of EEG source reconstruction to a wide variety of factors like reconstruction method, SNR, orientation, inter-dipole distance and depth of the simulated dipoles, etc. We simulated time series to resemble waveforms of somatosensory evoked potentials. Inter-dipole distances and different dipole orientations were investigated as well as the effect of (realistic) noise. We employed both spherical and realistic head models. Source reconstruction was realized using a conventional stationary dipole model, MUSIC, self-consistent MUSIC (SC-MUSIC) algorithm, and e-LORETA. In addition to the above mentioned methods, a new approach is tested building upon the e-LORETA solution: the topography of the maximum of the e-LORETA distribution is projected out of the data before calculating the next e-LORETA inverse solution in a iterative process. The quality of fit (or localization) was defined as the distance between the simulated point- sources and either the estimated point-sources or the activity distributions by means of the Euclidean distance or of the Earth Mover’’s Distance, respectively. As expected, inter-dipole distances played an important role in the ability of every method to disentangle the simulated sources. Overall, SC-MUSIC appeared best suited for disentangling the two simulated sources even at high-noise simulations., Biomechatronics & Human-Machine Control

The disclosure relates to a method and system wherein sensors on a cap or directly disposed on a head can be localized using a stereo camera. By capturing a plurality of stereo images, the positions of the sensors can be determined with respect to each other. At least a first stereo image having a first set of sensors and a second stereo image having a second set of sensors are captured in a first position respectively a second position of the stereo camera relative to the cap by a relative rotation of the stereo camera around the cap. The first set of sensors and the second set of sensors may have one or more sensors in common. The relative rotation of the stereo camera around the cap can be obtained by at least one of a rotation of the stereo camera around a non-rotating cap and a rotation of the cap with respect to a fixed stereo camera., Biomechanical Engineering, Mechanical, Maritime and Materials Engineering

The disclosure relates to a method and system wherein sensors on a cap or directly disposed on a head can be localized using a stereo camera. By capturing a plurality of stereo images, the positions of the sensors can be determined with respect to each other. At least a first stereo image having a first set of sensors and a second stereo image having a second set of sensors are captured in a first position respectively a second position of the stereo camera relative to the cap by a relative rotation of the stereo camera around the cap. The first set of sensors and the second set of sensors may have one or more sensors in common. The relative rotation of the stereo camera around the cap can be obtained by at least one of a rotation of the stereo camera around a non-rotating cap and a rotation of the cap with respect to a fixed stereo camera., Biomechanical Engineering, Mechanical, Maritime and Materials Engineering

Users of body powered prostheses (BPP) complain about too high operating forces, leading to pain and/or fatigue during or after prosthetic operation. In the worst case nerve and vessel damage can occur [1, 2], leading to nonuse of prostheses. Smit et al. investigated cable forces and displacements required to operate commercially available voluntary closing and voluntary opening hands and hooks [3, 4]. The capacities of prosthetic users to operate these terminal devices remain unknown. Taylor reported in 1954 forces and displacements measured with 50 ‘normal’ subjects for arm flexion (280±24 N; 5.3±1.0 cm), shrug (270±106 N; 5.7±1.5 cm) and arm extension (251±29 N; 5.8±1.7 cm) (mean±SD) [5]. Unfortunately, the measurement procedure is unclear. Moreover, the study reported forces and displacements from isolated movements instead of combinations of movements typically used for BPP operation. Our recent pilot experiments on 10 male subjects (28±2 years old) also without arm defects using a BPP harness revealed average values of 475 N and a peak value of 970 N for one subject. Although these values are higher, it remains unclear if these force levels are sufficient to comfortably operate a BPP, or too low leading to non-use. Importantly, knowing the capacities and limitations of prosthetic users will aid in choosing and redesigning future BPPs to prevent non-use., Biomechatronics & Human-Machine Control

Users of body powered prostheses (BPP) complain about too high operating forces, leading to pain and/or fatigue during or after prosthetic operation. In the worst case nerve and vessel damage can occur [1, 2], leading to nonuse of prostheses. Smit et al. investigated cable forces and displacements required to operate commercially available voluntary closing and voluntary opening hands and hooks [3, 4]. The capacities of prosthetic users to operate these terminal devices remain unknown. Taylor reported in 1954 forces and displacements measured with 50 ‘normal’ subjects for arm flexion (280±24 N; 5.3±1.0 cm), shrug (270±106 N; 5.7±1.5 cm) and arm extension (251±29 N; 5.8±1.7 cm) (mean±SD) [5]. Unfortunately, the measurement procedure is unclear. Moreover, the study reported forces and displacements from isolated movements instead of combinations of movements typically used for BPP operation. Our recent pilot experiments on 10 male subjects (28±2 years old) also without arm defects using a BPP harness revealed average values of 475 N and a peak value of 970 N for one subject. Although these values are higher, it remains unclear if these force levels are sufficient to comfortably operate a BPP, or too low leading to non-use. Importantly, knowing the capacities and limitations of prosthetic users will aid in choosing and redesigning future BPPs to prevent non-use., Biomechatronics & Human-Machine Control