A structural fingertip model for simulating of the biomechanics of tactile sensation

Thermal modulation of skin friction at the finger pad

Preliminary human studies show that reduced skin temperature minimises the risk of mechanically induced skin damage. However, the mechanisms by which cooling enhances skin tolerance to pressure and shear remain poorly understood. We hypothesized that skin cooling below thermo-neutral conditions will decrease kinetic friction at the skin-material interface. To test our hypothesis, we measured the friction coefficient of a thermally pre-conditioned index finger pad sliding at a normal load (5N) across a plate maintained at three different temperatures (38, 24, and 16 °C) in 8 healthy young adults (29±5y). To quantify the temperature distribution of the skin tissue, we used 3D surface scanning and Optical Coherence Tomography to develop an anatomically representative thermal model of the finger. Our group-level data indicated that the sliding finger with thermally affected tissues (up to 8 mm depth) experienced significantly lower frictional forces (p<0.01) at plate temperatures of 16 °C (i.e. 32% decrease) and 24 °C (i.e. 13% decrease) than at 38 °C, respectively. This phenomenon occurred consistently across participants (i.e. N = 6/8, 75%) and without large changes in skin hydration during sliding. Our complementary experimental and theoretical results provide new insights into thermal modulation of skin friction that can be employed for developing thermal technologies to maintain skin integrity under mechanical loading and shearing.

Sensory neuron activation from topical treatments modulates the sensorial perception of human skin

Neural signaling of skin sensory perception from topical treatments is often reported in subjective terms such as a sensation of skin "tightness" after using a cleanser or "softness" after applying a moisturizer. However, the mechanism whereby cutaneous mechanoreceptors and corresponding sensory neurons are activated giving rise to these perceptions has not been established. Here, we provide a quantitative approach that couples in vitro biomechanical testing and detailed computational neural stimulation modeling along with a comprehensive in vivo self-assessment survey to demonstrate how cutaneous biomechanical changes in response to treatments are involved in the sensorial perception of the human skin. Strong correlations are identified between reported perception up to 12 hours post treatment and changes in the computed neural stimulation from mechanoreceptors residing deep under the skin surface. The study reveals a quantitative framework for understanding the biomechanical neural activation mechanism and the subjective perception by individuals.

A novel rat-tail model for studying human finger vibration health effects

It has been hypothesized that the biodynamic responses of the human finger tissues to vibration are among the major stimuli that cause vibration health effects. Furthermore, the finger contact pressure can alter these effects. It is difficult to test these hypotheses using human subjects or existing animal models. The objective of this study was to develop a new rat-tail vibration model to investigate the combined effects of vibration and contact pressure and to identify their relationships with the biodynamic responses. Physically, the new exposure system was developed by adding a loading device to an existing rat-tail model. An analytical model of the rat-tail exposure system was proposed and used to formulate the methods for quantifying the biodynamic responses. A series of tests with six tails dissected from rat cadavers were conducted to test and evaluate the new model. The experimental and modeling results demonstrate that the new model behaves as predicted. Unlike the previous model, the vibration strain and stress of the rat tail does not depend primarily on the vibration response of the tail itself but on that of the loading device. This makes it possible to quantify and control the biodynamic responses conveniently and reliably by measuring the loading device response. This study also identified the basic characteristics of the tail biodynamic responses in the exposure system, which can be used to help design the experiments for studying vibration biological effects.

Modelling the compression of a soft ellipsoid fingertip

A purely mechanical-driven haptic feedback system was developed for amputees by [G. Shi et al., IEEE Trans. Haptics, 2020, 13, 204-210]. The fingertip ellipsoid modulates the compression force and transmits it to the feedback actuator when the finger interacts with an object. In this paper, the haptic feedback system has been modelled using finite deformation theory. For the ellipsoid fingertip, the compression behaviour between two rigid, flat surfaces has been studied and can predict the force-indentation trend and deformed shape of the membrane with the contact area. For the feedback actuator, the model for the flat membrane is developed with elastic theory, in which the deformation resulting in contact area increase has been studied. The model has been validated with experimental results, which consists of the fingertip ellipsoid membrane being compressed by a rigid surface and the feedback actuator being pressurised. The results of force-indentation, pressure-indentation and the deformation of the membrane from ellipsoid modelling lay within the experimental data and fit the non-linear trend well. The results from modelling the feedback actuator have the same trend as the experimental data in the force-pressure relationship. The haptic feedback system is consistent as a functional tactile sensor after validation. We present the modelling and validation of the proposed model for the mechanical driven haptic feedback system.

Individual Performance in Compliance Discrimination is Constrained by Skin Mechanics but Improved under Active Control

Tactile acuity differs between individuals, likely a function of several interrelated factors. The extent of the impact of skin mechanics on individual differences is unclear. Herein, we investigate if differences in skin elasticity between individuals impact their ability to distinguish compliant spheres near limits of discriminability. After characterizing hyperelastic material properties of their skin in compression, the participants were asked to discriminate spheres varying in elasticity and curvature, which generate non-distinct cutaneous cues. Simultaneous biomechanical measurements were used to dissociate the relative contributions from skin mechanics and volitional movements in modulating individuals' tactile sensitivity. The results indicate that, in passive touch, individuals with softer skin exhibit larger gross contact areas and higher perceptual acuity. In contrast, in active touch, where exploratory movements are behaviorally controlled, individuals with harder skin evoke relatively larger gross contact areas, which improve and compensate for deficits in their acuity as observed in passive touch. Indeed, these participants exhibit active control of their fingertip movements that improves their acuity, amidst the inherent constraints of their less elastic finger pad skin.

A Review of Hand-Arm Vibration Studies Conducted by US NIOSH since 2000

Studies on hand-transmitted vibration exposure, biodynamic responses, and biological effects were conducted by researchers at the Health Effects Laboratory Division (HELD) of the National Institute for Occupational Safety and Health (NIOSH) during the last 20 years. These studies are systematically reviewed in this report, along with the identification of areas where additional research is needed. The majority of the studies cover the following aspects: (i) the methods and techniques for measuring hand-transmitted vibration exposure; (ii) vibration biodynamics of the hand-arm system and the quantification of vibration exposure; (iii) biological effects of hand-transmitted vibration exposure; (iv) measurements of vibration-induced health effects; (iv) quantification of influencing biomechanical effects; and (v) intervention methods and technologies for controlling hand-transmitted vibration exposure. The major findings of the studies are summarized and discussed.

SIMPLIFIED VERSUS REAL GEOMETRY FINGERTIP MODELS: A FINITE ELEMENT STUDY TO PREDICT FORCE–DISPLACEMENT RESPONSE UNDER FLAT CONTACT COMPRESSION

Finite element fingertip models are useful tools to assess product ergonomics. While “real geometry” approaches provide accurate results, developing models requires medical images. “Simpified geometry” approaches have to date not been tested to see whether they can provide equally accurate results in terms of mechanical response, i.e. force-displacement response and dimensions of fingertip contact area. Four fingertip models were built either from medical images (Visible Human project) or from simplified geometries. Simulations of fingertip flat contact compression at 20[Formula: see text] were performed. A 2nd order hyperelastic material property was used to effectively reproduce the mechanical behavior of the fingertip. Models based on simplified geometries such as conics proved as accurate as models reconstructed from medical images. However, accurate positioning of the bony phalanx is paramount if a biofidelic mechanical response is to be reproduced.

Contact geometry and mechanics predict friction forces during tactile surface exploration

When we touch an object, complex frictional forces are produced, aiding us in perceiving surface features that help to identify the object at hand, and also facilitating grasping and manipulation. However, even during controlled tactile exploration, sliding friction forces fluctuate greatly, and it is unclear how they relate to the surface topography or mechanics of contact with the finger. We investigated the sliding contact between the finger and different relief surfaces, using high-speed video and force measurements. Informed by these experiments, we developed a friction force model that accounts for surface shape and contact mechanical effects, and is able to predict sliding friction forces for different surfaces and exploration speeds. We also observed that local regions of disconnection between the finger and surface develop near high relief features, due to the stiffness of the finger tissues. Every tested surface had regions that were never contacted by the finger; we refer to these as “tactile blind spots”. The results elucidate friction force production during tactile exploration, may aid efforts to connect sensory and motor function of the hand to properties of touched objects, and provide crucial knowledge to inform the rendering of realistic experiences of touch contact in virtual reality.

MRI-based experimentations of fingertip flat compression: Geometrical measurements and finite element inverse simulations to investigate material property parameters

Modeling human-object interactions is a necessary step in the ergonomic assessment of products. Fingertip finite element models can help investigating these interactions, if they are built based on realistic geometrical data and material properties. The aim of this study was to investigate the fingertip geometry and its mechanical response under compression, and to identify the parameters of a hyperelastic material property associated to the fingertip soft tissues. Fingertip compression tests in an MRI device were performed on 5 subjects at either 2 or 4 N and at 15° or 50°. The MRI images allowed to document both the internal and external fingertip dimensions and to build 5 subject-specific finite element models. Simulations reproducing the fingertip compression tests were run to obtain the material property parameters of the soft tissues. Results indicated that two ellipses in the sagittal and longitudinal plane could describe the external fingertip geometry. The internal geometries indicated an averaged maximal thickness of soft tissues of 6.4 ± 0.8 mm and a 4 ± 1 mm height for the phalanx bone. The averaged deflections under loading went from 1.8 ± 0.3 mm at 2 N, 50° to 3.1 ± 0.2 mm at 4 N, 15°. Finally, the following set of parameters for a second order hyperelastic law to model the fingertip soft tissues was proposed: C₀₁=0.59 ± 0.09 kPa and C₂₀ = 2.65 ± 0.88 kPa. These data should facilitate further efforts on fingertip finite element modeling.

Effect of 3D microstructure of dermal papillae on SED concentration at a mechanoreceptor location

The feeling of touch is an essential human sensation. Four types of mechanoreceptors (i.e., FA-I, SA-I, FA-II, and SA-II) in human skin signalize physical properties, such as shape, size, and texture, of an object that is touched and transmit the signal to the brain. Previous studies attempted to investigate the mechanical properties of skin microstructure and their effect on mechanoreceptors by using finite element modeling. However, very few studies have focused on the three-dimensional microstructure of dermal papillae, and this is related to that of FA-I receptors. A gap exists between conventional 2D models of dermal papillae and the natural configuration, which corresponds to a complex and uneven structure with depth. In this study, the three-dimensional microstructure of dermal papillae is modeled, and the differences between two-dimensional and three-dimensional aspects of dermal papillae on the strain energy density at receptor positions are examined. The three-dimensional microstructure has a focalizing effect and a localizing effect. Results also reveal the potential usefulness of these effects for tactile sensor design, and this may improve edge discrimination.

Simulating tactile signals from the whole hand with millisecond precision

When we grasp and manipulate an object, populations of tactile nerve fibers become activated and convey information about the shape, size, and texture of the object and its motion across the skin. The response properties of tactile fibers have been extensively characterized in single-unit recordings, yielding important insights into how individual fibers encode tactile information. A recurring finding in this extensive body of work is that stimulus information is distributed over many fibers. However, our understanding of population-level representations remains primitive. To fill this gap, we have developed a model to simulate the responses of all tactile fibers innervating the glabrous skin of the hand to any spatiotemporal stimulus applied to the skin. The model first reconstructs the stresses experienced by mechanoreceptors when the skin is deformed and then simulates the spiking response that would be produced in the nerve fiber innervating that receptor. By simulating skin deformations across the palmar surface of the hand and tiling it with receptors at their known densities, we reconstruct the responses of entire populations of nerve fibers. We show that the simulated responses closely match their measured counterparts, down to the precise timing of the evoked spikes, across a wide variety of experimental conditions sampled from the literature. We then conduct three virtual experiments to illustrate how the simulation can provide powerful insights into population coding in touch. Finally, we discuss how the model provides a means to establish naturalistic artificial touch in bionic hands.

Contact mechanics of the human finger pad under compressive loads

The coefficient of friction of most solid objects is independent of the applied normal force because of surface roughness. This behaviour is observed for a finger pad except at long contact times (greater than 10 s) against smooth impermeable surfaces such as glass when the coefficient increases with decreasing normal force by about a factor of five for the load range investigated here. This is clearly an advantage for some precision manipulation and grip tasks. Such normal force dependence is characteristic of smooth curved elastic bodies. It has been argued that the occlusion of moisture in the form of sweat plasticises the surface topographical features and their increased compliance allows flattening under an applied normal force, so that the surfaces of the fingerprint ridges are effectively smooth. While the normal force dependence of the friction is consistent with the theory of elastic frictional contacts, the gross deformation behaviour is not and, for commonly reported values of the Young's modulus of stratum corneum, the deformation of the ridges should be negligible compared with the gross deformation of the finger pad even when fully occluded. This paper describes the development of a contact mechanics model that resolves these inconsistencies and is validated against experimental data.

An Integrated Approach to Characterize the Behavior of a Human Fingertip in Contact with a Silica Window

Understanding the mechanisms of human tactual perception represents a challenging task in haptics and humanoid robotics. A classic approach to tackle this issue is to accurately and exhaustively characterize the mechanical behavior of human fingertip. The output of this characterization can then be exploited to drive the design of numerical models, which can be used to investigate in depth the mechanisms of human sensing. In this work, we present a novel integrated measurement technique and experimental set up for in vivo characterization of the deformation of the human fingertip at contact, in terms of contact area, force, deformation, and pressure distribution. The device presented here compresses the participant's fingertip against a flat surface, while the aforementioned measurements are acquired and experimental parameters such as velocity, finger orientation, and displacement (indentation) controlled. Experimental outcomes are then compared and integrated with the output of a 3D finite element (FE) model of the human fingertip, built upon existing validated models. The agreement between numerical and experimental data represents a validation for our approach.

Surface strain measurements of fingertip skin under shearing

The temporal evolution of surface strain, resulting from a combination of normal and tangential loading forces on the fingerpad, was calculated from high-resolution images. A customized robotic device loaded the fingertip with varying normal force, tangential direction and tangential speed. We observed strain waves that propagated from the periphery to the centre of the contact area. Consequently, different regions of the contact area were subject to varying degrees of compression, stretch and shear. The spatial distribution of both the strains and the strain energy densities depended on the stimulus direction. Additionally, the strains varied with the normal force level and were substantial, e.g. peak strains of 50% with a normal force of 5 N, i.e. at force levels well within the range of common dexterous manipulation tasks. While these observations were consistent with some theoretical predictions from contact mechanics, we also observed substantial deviations as expected given the complex geometry and mechanics of fingertips. Specifically, from in-depth analyses, we conclude that some of these deviations depend on local fingerprint patterns. Our data provide useful information for models of tactile afferent responses and background for the design of novel haptic interfaces.

Computational modeling indicates that surface pressure can be reliably conveyed to tactile receptors even amidst changes in skin mechanics

Distinct patterns in neuronal firing are observed between classes of cutaneous afferents. Such differences may be attributed to end-organ morphology, distinct ion-channel complements, and skin microstructure, among other factors. Even for just the slowly adapting type I afferent, the skin's mechanics for a particular specimen might impact the afferent's firing properties, especially given the thickness and elasticity of skin can change dramatically over just days. Here, we show computationally that the skin can reliably convey indentation magnitude, rate, and spatial geometry to the locations of tactile receptors even amid changes in skin's structure. Using finite element analysis and neural dynamics models, we considered the skin properties of six mice that span a representative cohort. Modeling the propagation of the surface stimulus to the interior of the skin demonstrated that there can be large variance in stresses and strains near the locations of tactile receptors, which can lead to large variance in static firing rate. However, variance is significantly reduced when the stimulus tip is controlled by surface pressure and compressive stress is measured near the end organs. This particular transformation affords the least variability in predicted firing rates compared with others derived from displacement, force, strain energy density, or compressive strain. Amid changing skin mechanics, stimulus control by surface pressure may be more naturalistic and optimal and underlie how animals actively explore the tactile environment.

A Finite element model of tactile flow for softness perception

Touch is an extremely dynamic sense. To take into account this aspect, it has been hypothesized that there are mechanisms in the brain that specialize in processing dynamic tactile stimuli, in a way not too dissimilar from what happens for optical flow in dynamic vision. The concept of tactile flow, related to the rate of expansion of isostrain volumes in the human fingerpad, was used to explain some perceptual illusions as well as mechanisms of human softness perception. In this paper we describe a computational model of tactile flow, and apply it to a finite element model of interaction between deformable bodies. The shape and material properties of the bodies are modeled from those of a human fingertip interacting with specimens with different softness properties. Results show that the rate of expansion of isostrain volumes can be used to discriminate different materials in terms of their softness characteristics.

Development of a finite element model of a finger pad for biomechanics of human tactile sensations

The aim of ongoing research is to develop a multi-scale multi-physics computational framework for modelling of human touch in order to provide understanding of fundamental biophysical mechanisms responsible for tactile sensation. The paper presents the development of a macro-scale global finite element model of the finger pad and calibration of applied material models against experimental results using inverse method. The developed macro model serves as a basis for down-scaling to micro finite element models of mechanoreceptors and further implementations and applications as a virtual tool in scientific or industrial applications related to neuroscience, haptics, prosthetics, virtual touch and packaging.

The anti-diabetic drug metformin protects against chemotherapy-induced peripheral neuropathy in a mouse model

Chemotherapy-induced peripheral neuropathy (CIPN) characterized by loss of sensory sensitivity and pain in hands and feet is the major dose-limiting toxicity of many chemotherapeutics. At present, there are no FDA-approved treatments for CIPN. The anti-diabetic drug metformin is the most widely used prescription drug in the world and improves glycemic control in diabetes patients. There is some evidence that metformin enhances the efficacy of cancer treatment. The aim of this study was to test the hypothesis that metformin protects against chemotherapy-induced neuropathic pain and sensory deficits. Mice were treated with cisplatin together with metformin or saline. Cisplatin induced increased sensitivity to mechanical stimulation (mechanical allodynia) as measured using the von Frey test. Co-administration of metformin almost completely prevented the cisplatin-induced mechanical allodynia. Co-administration of metformin also prevented paclitaxel-induced mechanical allodynia. The capacity of the mice to detect an adhesive patch on their hind paw was used as a novel indicator of chemotherapy-induced sensory deficits. Co-administration of metformin prevented the cisplatin-induced increase in latency to detect the adhesive patch indicating that metformin prevents sensory deficits as well. Moreover, metformin prevented the reduction in density of intra-epidermal nerve fibers (IENFs) in the paw that develops as a result of cisplatin treatment. We conclude that metformin protects against pain and loss of tactile function in a mouse model of CIPN. The finding that metformin reduces loss of peripheral nerve endings indicates that mechanism underlying the beneficial effects of metformin includes a neuroprotective activity. Because metformin is widely used for treatment of type II diabetes, has a broad safety profile, and is currently being tested as an adjuvant drug in cancer treatment, clinical translation of these findings could be rapidly achieved.

Validating a population model of tactile mechanotransduction of slowly adapting type I afferents at levels of skin mechanics, single-unit response and psychophysics

Previous models of touch have linked skin mechanics to neural firing rate, neural dynamics to action potential elicitation, and mechanoreceptor populations to psychophysical discrimination. However, no one model spans all levels. The objective of work herein is to build a multi-level, computational model of tactile neurons embedded in cutaneous skin, and then validate its predictions of skin surface deflection, single-afferent firing to indenter shift, and population response for sphere discrimination. The model includes a 3D finite element representation of the distal phalange with hyper- and visco-elastic mechanics. Distributed over its surface, a population of receptor models is comprised of bi-phasic functions to represent Merkel cells' transformation of stress/strain to membrane current and a leaky integrate-and-fire neuronal models to generate the timing of action potentials. After including neuronal noise, the predictions of two population encoding strategies (gradient sum and euclidean distance) are compared to psychophysical discrimination of spheres. Results indicate that predicted skin surface deflection matches Srinivasan's observations for 50 micron and 3.17 mm diameter cylinders and single-afferent responses achieve R(2) = 0.81 when compared to Johnson's recordings. Discrimination results correlate with Goodwin's experiments, whereby 287 and 365 m(-1) spheres are more discriminable than 287 and 296 m(-1).

Spatio-temporal skin strain distributions evoke low variability spike responses in cuneate neurons

A common method to explore the somatosensory function of the brain is to relate skin stimuli to neurophysiological recordings. However, interaction with the skin involves complex mechanical effects. Variability in mechanically induced spike responses is likely to be due in part to mechanical variability of the transformation of stimuli into spiking patterns in the primary sensors located in the skin. This source of variability greatly hampers detailed investigations of the response of the brain to different types of mechanical stimuli. A novel stimulation technique designed to minimize the uncertainty in the strain distributions induced in the skin was applied to evoke responses in single neurons in the cat. We show that exposure to specific spatio-temporal stimuli induced highly reproducible spike responses in the cells of the cuneate nucleus, which represents the first stage of integration of peripheral inputs to the brain. Using precisely controlled spatio-temporal stimuli, we also show that cuneate neurons, as a whole, were selectively sensitive to the spatial and to the temporal aspects of the stimuli. We conclude that the present skin stimulation technique based on localized differential tractions greatly reduces response variability that is exogenous to the information processing of the brain and hence paves the way for substantially more detailed investigations of the brain's somatosensory system.

Effects of Local Muscle Vibration on the Displacement of Center of Pressure during Quiet Standing

[Purpose] The purpose of this study was to investigate the effect of local vibration stimuli on body balance (trace area, trace length, and velocity) in healthy adults during double-leg standing. [Subjects and Methods] Thirty-nine subjects (10 male, 29 female) participated in this study. They were asked to keep their balance while holding four positions: standing with their eyes open, with and without vibration stimuli, and standing with their eyes closed, with and without vibration stimuli. The vibration stimuli, which had a duration of 30 sec, and a frequency of 60–80 Hz, were applied to the tibialis anterior and gastrocnemius muscle belly during double-leg standing. Balance measurement was performed using the Balance Trainer 4 (HUR Labs Oy, Tampere, Finland). All subjects provided informed consent prior to participation in this study. [Results] In the open-eyes position, there were no significant differences in trace area, trace length, and velocity of the center of pressure (COP) either with or without vibration stimuli. However, in the closed-eyes position, the vibration stimuli significantly decreased trace area, trace length, and velocity of the COP compared with when no vibration stimuli were applied. [Conclusion] These results suggest that vibration stimuli applied to the lower leg improve balance when a person’s eyes are closed during double-leg quiet standing.

Fluid-structure interaction-based biomechanical perception model for tactile sensing

The reproduced tactile sensation of haptic interfaces usually selectively reproduces a certain object attribute, such as the object's material reflected by vibration and its surface shape by a pneumatic nozzle array. Tactile biomechanics investigates the relation between responses to an external load stimulus and tactile perception and guides the design of haptic interface devices via a tactile mechanism. Focusing on the pneumatic haptic interface, we established a fluid–structure interaction-based biomechanical model of responses to static and dynamic loads and conducted numerical simulation and experiments. This model provides a theoretical basis for designing haptic interfaces and reproducing tactile textures.

Towards wearability in fingertip haptics: a 3-DoF wearable device for cutaneous force feedback

Wearability will significantly increase the use of haptics in everyday life, as has already happened for audio and video technologies. The literature on wearable haptics is mainly focused on vibrotactile stimulation, and only recently, wearable devices conveying richer stimuli, like force vectors, have been proposed. This paper introduces design guidelines for wearable haptics and presents a novel 3-DoF wearable haptic interface able to apply force vectors directly to the fingertip. It consists of two platforms: a static one, placed on the back of the finger, and a mobile one, responsible for applying forces at the finger pad. The structure of the device resembles that of parallel robots, where the fingertip is placed in between the static and the moving platforms. This work presents the design of the wearable display, along with the quasi-static modeling of the relationship between the applied forces and the platform's orientation and displacement. The device can exert up to 1.5 N, with a maximum platform inclination of 30 degree. To validate the device and verify its effectiveness, a curvature discrimination experiment was carried out: employing the wearable device together with a popular haptic interface improved the performance with respect of employing the haptic interface alone.

Force sensor in simulated skin and neural model mimic tactile SAI afferent spiking response to ramp and hold stimuli

BACKGROUND

The next generation of prosthetic limbs will restore sensory feedback to the nervous system by mimicking how skin mechanoreceptors, innervated by afferents, produce trains of action potentials in response to compressive stimuli. Prior work has addressed building sensors within skin substitutes for robotics, modeling skin mechanics and neural dynamics of mechanotransduction, and predicting response timing of action potentials for vibration. The effort here is unique because it accounts for skin elasticity by measuring force within simulated skin, utilizes few free model parameters for parsimony, and separates parameter fitting and model validation. Additionally, the ramp-and-hold, sustained stimuli used in this work capture the essential features of the everyday task of contacting and holding an object.

METHODS

This systems integration effort computationally replicates the neural firing behavior for a slowly adapting type I (SAI) afferent in its temporally varying response to both intensity and rate of indentation force by combining a physical force sensor, housed in a skin-like substrate, with a mathematical model of neuronal spiking, the leaky integrate-and-fire. Comparison experiments were then conducted using ramp-and-hold stimuli on both the spiking-sensor model and mouse SAI afferents. The model parameters were iteratively fit against recorded SAI interspike intervals (ISI) before validating the model to assess its performance.

RESULTS

Model-predicted spike firing compares favorably with that observed for single SAI afferents. As indentation magnitude increases (1.2, 1.3, to 1.4 mm), mean ISI decreases from 98.81 ± 24.73, 54.52 ± 6.94, to 41.11 ± 6.11 ms. Moreover, as rate of ramp-up increases, ISI during ramp-up decreases from 21.85 ± 5.33, 19.98 ± 3.10, to 15.42 ± 2.41 ms. Considering first spikes, the predicted latencies exhibited a decreasing trend as stimulus rate increased, as is observed in afferent recordings. Finally, the SAI afferent's characteristic response of producing irregular ISIs is shown to be controllable via manipulating the output filtering from the sensor or adding stochastic noise.

CONCLUSIONS

This integrated engineering approach extends prior works focused upon neural dynamics and vibration. Future efforts will perfect measures of performance, such as first spike latency and irregular ISIs, and link the generation of characteristic features within trains of action potentials with current pulse waveforms that stimulate single action potentials at the peripheral afferent.

Transparent and flexible force sensor array based on optical waveguide

This paper suggests a force sensor array measuring contact force based on intensity change of light transmitted throughout optical waveguide. For transparency and flexibility of the sensor, two soft prepolymers with different refractive index have been developed. The optical waveguide consists of two cladding layers and a core layer. The top cladding layer is designed to allow light scattering at the specific area in response to finger contact. The force sensor shows a distinct tendency that output intensity decreases with input force and measurement range is from 0 to -13.2 dB.

Prosthetic finger phalanges with lifelike skin compliance for low-force social touching interactions

Background

Prosthetic arms and hands that can be controlled by the user's electromyography (EMG) signals are emerging. Eventually, these advanced prosthetic devices will be expected to touch and be touched by other people. As realistic as they may look, the currently available prosthetic hands have physical properties that are still far from the characteristics of human skins because they are much stiffer. In this paper, different configurations of synthetic finger phalanges have been investigated for their skin compliance behaviour and have been compared with the phalanges of the human fingers and a phalanx from a commercially available prosthetic hand.

Methods

Handshake tests were performed to identify which areas on the human hand experience high contact forces. After these areas were determined, experiments were done on selected areas using an indenting probe to obtain the force-displacement curves. Finite element simulations were used to compare the force-displacement results of the synthetic finger phalanx designs with that of the experimental results from the human and prosthetic finger phalanges. The simulation models were used to investigate the effects of (a) varying the internal topology of the finger phalanx and (b) varying different materials for the internal and external layers.

Results and Conclusions

During handshake, the high magnitudes of contact forces were observed at the areas where the full grasping enclosure of the other person's hand can be achieved. From these areas, the middle phalanges of the (a) little, (b) ring, and (c) middle fingers were selected. The indentation experiments on these areas showed that a 2 N force corresponds to skin tissue displacements of more than 2 mm. The results from the simulation model show that introducing an open pocket with 2 mm height on the internal structure of synthetic finger phalanges increased the skin compliance of the silicone material to 235% and the polyurethane material to 436%, as compared to a configuration with a solid internal geometry. In addition, the study shows that an indentation of 2 N force on the synthetic skin with an open pocket can also achieve a displacement of more than 2 mm, while the finger phalanx from a commercially available prosthetic hand can only achieve 0.2 mm.

Predicting SA-I mechanoreceptor spike times with a skin-neuron model

Slowly adapting type I (SA-I) mechanoreceptors encode the edges and curvature of touched objects by generating neural spikes in response to indentation of the skin. Beneath this general input-output relationship, models are of great utility for understanding the sub-processes, as SA-I transduction sites are inaccessible to whole-cell recording. This work develops and validates a SA-I skin-receptor model that combines a finite element model of skin mechanics, a sigmoidal function of transduction, and a leaky integrate-and-fire model of neural dynamics. The model produced a R(2)=0.80 goodness of fit between predicted and observed firing rates for 3 and 5mm grating stimuli. In addition, modulation indices of predicted firing rates for 3 and 5mm gratings are 0.46 and 0.59, respectively, compared to the 0.71 and 0.72 found in vivo. An analysis of predicted first spikes indicates their latency may also be enhanced by edges, as edge proximity shortened first spike latencies by 26.2 and 41.8 ms for the 3 and 5mm gratings, respectively. The model described here bridges the gap between those models that transform sustained indentation to firing rates and those that transform vibration to spike times.

Fingerprint lines may not directly affect SA-I mechanoreceptor response

Understanding how skin microstructure affects slowly adapting type I (SA-I) mechanoreceptors in encoding edge discontinuities is fundamental to understanding our sense of touch. Skin microstructure, in particular papillary ridges, has been thought to contribute to edge and gap sensation. Cauna's 1954 model of touch sensibility describes a functional relationship between papillary ridges and edge sensation. His lever arm model proposes that the papillary ridge (exterior fingerprint line) and underlying intermediate ridge operate as a single unit, with the intermediate ridge acting as a lever which magnifies indentation imposed at the papillary ridge. This paper contests the validity of the lever arm model. While correctly representing the anatomy, this mechanism inaccurately characterizes the function of the papillary ridges. Finite element analysis and assessment of the critical anatomy indicate that papillary ridges have little direct effect on how SA-I receptors respond to the indentation of static edges. Our analysis supports a revised (stiff shell-elastic bending support) interpretation where the epidermis is split into two major layers with a stiff, deformable shell over an elastic bending support. Recent physiological, electrophysiological, and psychophysical findings support our conclusion that the function of the intermediate ridge is distinct from the function of the papillary ridge.

Interface pressure monitoring for a secured instrumented childbirth

Complications in forceps deliveries are rare but their consequences might be dramatics. This situation could be avoided if the obstetrician knows the information concerning symmetry of the obstetrical forceps position on the fetal head and the related interface pressure. Indeed, forceps delivery is an emergency gesture which is normally not expected. Our purpose is to determinate relevant parameters for a fast decision-making without any danger for the fetus. We have developed a new interface pressure measurement system in order to study pressure distribution of human body whatever its support (forceps, chair, bed...). This method has been adapted to measure the interface pressure between the fetal head and the forceps. This new system also provides information of forceps position symmetries. The aims of this system are: first, to prevent instrumented delivery accidents. Secondly, to provide a safe training of forceps technique. This paper presents results about experiments performed on phantoms of fetal head. Different forceps positions on phantom have been tested according to the classification of forceps application as per A.C.O.G 1981 (revised in 1991). These experiments have lead to the definition of relevant parameters in order to help the physician to validate the forceps positions before extraction.

Coincidence-enhanced stochastic resonance: experimental evidence challenges the psychophysical theory behind stochastic resonance

Stochastic resonance (SR) is the counterintuitive phenomenon in which noise enhances detection of sub-threshold stimuli. The SR psychophysical threshold theory establishes that the required amplitude to exceed the sensory threshold barrier can be reached by adding noise to a sub-threshold stimulus. The aim of this study was to test the SR theory by comparing detection results from two different randomly-presented stimulus conditions. In the first condition, optimal noise was present during the whole attention interval; in the second, the optimal noise was restricted to the same time interval as the stimulus. SR threshold theory predicts no difference between the two conditions because noise helps the sub-threshold stimulus to reach threshold in both cases. The psychophysical experimental method used a 300 ms rectangular force pulse as a stimulus within an attention interval of 1.5 s, applied to the index finger of six human subjects in the two distinct conditions. For all subjects we show that in the condition in which the noise was present only when synchronized with the stimulus, detection was better (p<0.05) than in the condition in which the noise was delivered throughout the attention interval. These results provide the first direct evidence that SR threshold theory is incomplete and that a new phenomenon has been identified, which we call Coincidence-Enhanced Stochastic Resonance (CESR). We propose that CESR might occur because subject uncertainty is reduced when noise points at the same temporal window as the stimulus.

FOR SAFE: instrumented and secured obstetrical forceps

Operative vaginal deliveries represent a significant amount of vaginal deliveries. Operative delivery involves either forceps either vacuum extraction. Complications are frequent but rarely severe (cutaneaous lesions, facial palsy...). However, it is essential to limit these complications by helping the obstetrician to position his extraction instrument. It is the aim of the FOR SAFE device: provide a new instrumented forceps which performs the interface pressure measurement between the fetal head and the shanks of the forceps. Interface pressure evaluation requires interaction between the living tissue and the sensor, just like a man needs to touch an object with its fingertip to evaluate its compliance. The design of the sensor is "bio inspired". The sensor interacts with the matter, without modifying phenomenon to be measured.

Experiments and models of sensorimotor interactions during locomotion

During locomotion sensory information from cutaneous and muscle receptors is continuously integrated with the locomotor central pattern generator (CPG) to generate an appropriate motor output to meet the demands of the environment. Sensory signals from peripheral receptors can strongly impact the timing and amplitude of locomotor activity. This sensory information is gated centrally depending on the state of the system (i.e., rest vs. locomotion) but is also modulated according to the phase of a given task. Consequently, if one is to devise biologically relevant walking models it is imperative that these sensorimotor interactions at the spinal level be incorporated into the control system.

Computer modelling study of the mechanism of optic nerve injury in blunt trauma

AIM

The potential causes of the optic nerve injury as a result of blunt object trauma, were investigated using a computer model.

METHODS

A finite element model of the eye, the optic nerve, and the orbit with its content was constructed to simulate blunt object trauma. We used a model of the first phalanx of the index finger to represent the blunt body. The trauma was simulated by impacting the blunt body at the surface between the globe and the orbital wall at velocities between 2-5 m/s, and allowing it to penetrate 4-10 mm below the orbital rim.

RESULTS

The impact caused rotations of the globe of up to 5000 degrees /s, lateral velocities of up to 1 m/s, and intraocular pressures (IOP) of over 300 mm Hg. The main stress concentration was observed at the insertion of the nerve into the sclera, at the side opposite to the impact.

CONCLUSIONS

The results suggest that the most likely mechanisms of injury are rapid rotation and lateral translation of the globe, as well as a dramatic rise in the IOP. The strains calculated in the study should be sufficiently high to cause axonal damage and even the avulsion of the nerve. Finite element computer modelling has therefore provided important insights into a clinical scenario that cannot be replicated in human or animal experiments.

A continuum mechanical model of mechanoreceptive afferent responses to indented spatial patterns

Information about the spatial structure of tactile stimuli is conveyed by slowly adapting type 1 (SA1) and rapidly adapting (RA) afferents innervating the skin. Here, we investigate how the spatial properties of the stimulus shape the afferent response. To that end, we present an analytical framework to characterize SA1 and RA responses to a wide variety of spatial patterns indented into the skin. This framework comprises a model of the tissue deformation produced by any three-dimensional indented spatial pattern, along with an expression that converts the deformation at the receptor site into a neural response. We evaluated 15 candidate variables for the relevant receptor deformation and found that physical quantities closely related to local membrane stretch were most predictive of the observed afferent responses. The main outcome of this study is an accurate working model of SA1 and RA afferent responses to indented spatial patterns.

Flexible technologies and smart clothing for citizen medicine, home healthcare, and disease prevention

Improvement of the quality and efficiency of healthcare in medicine, both at home and in hospital, is becoming more and more important for patients and society at large. As many technologies (micro technologies, telecommunication, low-power design, new textiles, and flexible sensors) are now available, new user-friendly devices can be developed to enhance the comfort and security of the patient. As clothes and textiles are in direct contact with about 90% of the skin surface, smart sensors and smart clothes with noninvasive sensors are an attractive solution for home-based and ambulatory health monitoring. Moreover, wearable devices or smart homes with exosensors are also potential solutions. All these systems can provide a safe and comfortable environment for home healthcare, illness prevention, and citizen medicine.

Recent advances in biodynamics of human hand-arm system

The biodynamics of human hand-arm system is one of the most important foundations for the measurement, evaluation, and risk assessment of hand-transmitted vibration (HTV) exposure. This paper presents a new conceptual model relating factors influencing cause-effect relationships for HTV exposure, a new study strategy, and a comprehensive review of the recent advances in the biodynamics closely associated with HTV exposure. The review covers the following five aspects: theoretical modeling of biodynamic responses, vibration transmissibility, driving-point biodynamic responses, evaluation of anti-vibration gloves, and applied forces. This review finds that some significant advances in each of these aspects have been achieved in the recent years. Several important issues and problems in the biodynamic measurement have been identified and resolved, which has significantly helped improve the reliability and accuracy of the experimental data. The results reported in recent years suggest that, from the point of view of biodynamics, the frequency weighting specified in ISO 5349-1 (2001) overestimates the low frequency effect but underestimates the high frequency effect on the fingers and hand. The major problems, issues, and topics for further studies are also outlined in this paper. It is anticipated that the further studies of the biodynamics of the system will eventually lead to establishment of a robust vibration exposure theory. Although this review focuses on the biodynamics of the hand-arm system, the fundamental concepts and some methodologies reviewed in this paper may also be applicable for the study of whole-body vibration exposure.