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Rudigkeit N, Gebhard M. AMiCUS-A Head Motion-Based Interface for Control of an Assistive Robot. SENSORS 2019; 19:s19122836. [PMID: 31242706 PMCID: PMC6630260 DOI: 10.3390/s19122836] [Citation(s) in RCA: 19] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 05/23/2019] [Revised: 06/13/2019] [Accepted: 06/18/2019] [Indexed: 11/16/2022]
Abstract
Within this work we present AMiCUS, a Human-Robot Interface that enables tetraplegics to control a multi-degree of freedom robot arm in real-time using solely head motion, empowering them to perform simple manipulation tasks independently. The article describes the hardware, software and signal processing of AMiCUS and presents the results of a volunteer study with 13 able-bodied subjects and 6 tetraplegics with severe head motion limitations. As part of the study, the subjects performed two different pick-and-place tasks. The usability was assessed with a questionnaire. The overall performance and the main control elements were evaluated with objective measures such as completion rate and interaction time. The results show that the mapping of head motion onto robot motion is intuitive and the given feedback is useful, enabling smooth, precise and efficient robot control and resulting in high user-acceptance. Furthermore, it could be demonstrated that the robot did not move unintendedly, giving a positive prognosis for safety requirements in the framework of a certification of a product prototype. On top of that, AMiCUS enabled every subject to control the robot arm, independent of prior experience and degree of head motion limitation, making the system available for a wide range of motion impaired users.
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Affiliation(s)
- Nina Rudigkeit
- Group of Sensors and Actuators, Department of Electrical Engineering and Applied Physics, Westphalian University of Applied Sciences, 45877 Gelsenkirchen, Germany.
| | - Marion Gebhard
- Group of Sensors and Actuators, Department of Electrical Engineering and Applied Physics, Westphalian University of Applied Sciences, 45877 Gelsenkirchen, Germany.
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Ostadabbas S, Housley SN, Sebkhi N, Richards K, Wu D, Zhang Z, Rodriguez MG, Warthen L, Yarbrough C, Belagaje S, Butler AJ, Ghovanloo M. Tongue-controlled robotic rehabilitation: A feasibility study in people with stroke. ACTA ACUST UNITED AC 2017; 53:989-1006. [PMID: 28475207 DOI: 10.1682/jrrd.2015.06.0122] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/29/2015] [Revised: 01/25/2016] [Indexed: 11/05/2022]
Abstract
Stroke survivors with severe upper limb (UL) impairment face years of therapy to recover function. Robot-assisted therapy (RT) is increasingly used in the field for goal-oriented rehabilitation as a means to improve function in ULs. To be used effectively for wrist and hand therapy, the current RT systems require the patient to have a minimal active range of movement in the UL, and those that do not have active voluntary movement cannot use these systems. We have overcome this limitation by harnessing tongue motion to allow patients to control a robot using synchronous tongue and hand movement. This novel RT device combines a commercially available UL exoskeleton, the Hand Mentor, and our custom-designed Tongue Drive System as its controller. We conducted a proof-of-concept study on six nondisabled participants to evaluate the system usability and a case series on three participants with movement limitations from poststroke hemiparesis. Data from two stroke survivors indicate that for patients with chronic, moderate UL impairment following stroke, a 15-session training regimen resulted in modest decreases in impairment, with functional improvement and improved quality of life. The improvement met the standard of minimal clinically important difference for activities of daily living, mobility, and strength assessments.
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Affiliation(s)
- Sarah Ostadabbas
- Electrical and Computer Engineering Department, Northeastern University, Boston, MA
| | - Stephen N Housley
- School of Nursing & Health Professions, Georgia State University, Atlanta, GA
| | - Nordine Sebkhi
- School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA
| | - Kimberly Richards
- School of Nursing & Health Professions, Georgia State University, Atlanta, GA
| | - David Wu
- School of Nursing & Health Professions, Georgia State University, Atlanta, GA
| | - Zhenxuan Zhang
- School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA
| | | | - Lindsey Warthen
- School of Nursing & Health Professions, Georgia State University, Atlanta, GA
| | - Crystal Yarbrough
- School of Nursing & Health Professions, Georgia State University, Atlanta, GA
| | | | - Andrew J Butler
- School of Nursing & Health Professions, Georgia State University, Atlanta, GA.,Department of Physical Therapy, Georgia State University, Atlanta, GA
| | - Maysam Ghovanloo
- School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA
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Koike U, Enriquez G, Miwa T, Yap HE, Kabasawa M, Hashimoto S. Development of an Intraoral Interface for Human-Ability Extension Robots. JOURNAL OF ROBOTICS AND MECHATRONICS 2016. [DOI: 10.20965/jrm.2016.p0819] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
[abstFig src='/00280006/05.jpg' width='300' text='The headset type intraoral interface' ] An extra degree of freedom to human body movement could assist people in a variety of tasks. To this end, we have previously proposed a human-ability extension system through a supernumerary limb. The system comprises of a manipulator that acts as a third arm, a feedback device that displays its status, and an interface that allows for its hands-free operation. Herein, we present this novel, intraoral interface that utilizes tongue motions and expiratory pressure. In contrast to the conventional intraoral interfaces that suffer from a lack of degrees of freedom and stability, our advanced interface is equipped with inertial measurement units and a pressure sensor to solve these problems without sacrificing the ease of use. The proposed interface is utile not only in our ongoing “Third Arm” project, but also in various other applications. We conclude with experimental evaluation of the system’s usability and its efficacy for human-ability extension systems.
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N S Andreasen Struijk L, Lontis ER, Gaihede M, Caltenco HA, Lund ME, Schioeler H, Bentsen B. Development and functional demonstration of a wireless intraoral inductive tongue computer interface for severely disabled persons. Disabil Rehabil Assist Technol 2016; 12:631-640. [PMID: 27678024 DOI: 10.1080/17483107.2016.1217084] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/20/2022]
Abstract
PURPOSE Individuals with tetraplegia depend on alternative interfaces in order to control computers and other electronic equipment. Current interfaces are often limited in the number of available control commands, and may compromise the social identity of an individual due to their undesirable appearance. The purpose of this study was to implement an alternative computer interface, which was fully embedded into the oral cavity and which provided multiple control commands. METHODS The development of a wireless, intraoral, inductive tongue computer was described. The interface encompassed a 10-key keypad area and a mouse pad area. This system was embedded wirelessly into the oral cavity of the user. The functionality of the system was demonstrated in two tetraplegic individuals and two able-bodied individuals Results: The system was invisible during use and allowed the user to type on a computer using either the keypad area or the mouse pad. The maximal typing rate was 1.8 s for repetitively typing a correct character with the keypad area and 1.4 s for repetitively typing a correct character with the mouse pad area. CONCLUSION The results suggest that this inductive tongue computer interface provides an esthetically acceptable and functionally efficient environmental control for a severely disabled user. Implications for Rehabilitation New Design, Implementation and detection methods for intra oral assistive devices. Demonstration of wireless, powering and encapsulation techniques suitable for intra oral embedment of assistive devices. Demonstration of the functionality of a rechargeable and fully embedded intra oral tongue controlled computer input device.
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Affiliation(s)
- Lotte N S Andreasen Struijk
- a Department of Health Science and Technology, Center for Sensory Motor Interaction , Aalborg University , Aalborg , Denmark
| | - Eugen R Lontis
- a Department of Health Science and Technology, Center for Sensory Motor Interaction , Aalborg University , Aalborg , Denmark
| | - Michael Gaihede
- b Department of Otolaryngology , Head and Neck Surgery, Aalborg University Hospital, Denmark and Department of Clinical Medicine, Aalborg University , Denmark
| | - Hector A Caltenco
- c Certec, Deptartment of Design Sciences , Lund University , Lund , Sweden
| | - Morten Enemark Lund
- a Department of Health Science and Technology, Center for Sensory Motor Interaction , Aalborg University , Aalborg , Denmark
| | - Henrik Schioeler
- d Department of Electronic Systems , Aalborg University , Aalborg , Denmark
| | - Bo Bentsen
- a Department of Health Science and Technology, Center for Sensory Motor Interaction , Aalborg University , Aalborg , Denmark
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Lobo-Prat J, Kooren PN, Stienen AHA, Herder JL, Koopman BFJM, Veltink PH. Non-invasive control interfaces for intention detection in active movement-assistive devices. J Neuroeng Rehabil 2014; 11:168. [PMID: 25516421 PMCID: PMC4459663 DOI: 10.1186/1743-0003-11-168] [Citation(s) in RCA: 100] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/10/2014] [Accepted: 12/05/2014] [Indexed: 11/11/2022] Open
Abstract
Active movement-assistive devices aim to increase the quality of life for patients with neuromusculoskeletal disorders. This technology requires interaction between the user and the device through a control interface that detects the user’s movement intention. Researchers have explored a wide variety of invasive and non-invasive control interfaces. To summarize the wide spectrum of strategies, this paper presents a comprehensive review focused on non-invasive control interfaces used to operate active movement-assistive devices. A novel systematic classification method is proposed to categorize the control interfaces based on: (I) the source of the physiological signal, (II) the physiological phenomena responsible for generating the signal, and (III) the sensors used to measure the physiological signal. The proposed classification method can successfully categorize all the existing control interfaces providing a comprehensive overview of the state of the art. Each sensing modality is briefly described in the body of the paper following the same structure used in the classification method. Furthermore, we discuss several design considerations, challenges, and future directions of non-invasive control interfaces for active movement-assistive devices.
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Affiliation(s)
- Joan Lobo-Prat
- Department of Biomechanical Engineering, University of Twente, Drienerlolaan 5, 7522, NB, Enschede, The Netherlands.
| | - Peter N Kooren
- Department of Physics and Medical Technology, VU University Medical Center, Van der Boechorststraat 7, 1081 BT, Amsterdam, The Netherlands.
| | - Arno H A Stienen
- Department of Biomechanical Engineering, University of Twente, Drienerlolaan 5, 7522, NB, Enschede, The Netherlands. .,Department of Physical Therapy and Human Movement Sciences, Northwestern University, 645 N. Michigan Ave. Suite 1100, 60611, Chicago, IL, USA.
| | - Just L Herder
- Department of Precision and Microsystems Engineering, Delft University of Technology, Mekelweg 2, 2628 CD, Delft, The Netherlands. .,Department Mechanical Automation and Mechatronics, University of Twente, Drienerlolaan 5, 7500 AE, Enschede, The Netherlands.
| | - Bart F J M Koopman
- Department of Biomechanical Engineering, University of Twente, Drienerlolaan 5, 7522, NB, Enschede, The Netherlands.
| | - Peter H Veltink
- Department of Biomedical Signals and Systems, University of Twente, Drienerlolaan 5, 7500 AE, Enschede, The Netherlands.
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Bentsen B, Gaihede M, Lontis R, Andreasen Struijk LNS. Medical tongue piercing - development and evaluation of a surgical protocol and the perception of procedural discomfort of the participants. J Neuroeng Rehabil 2014; 11:44. [PMID: 24684776 PMCID: PMC4230317 DOI: 10.1186/1743-0003-11-44] [Citation(s) in RCA: 12] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/07/2013] [Accepted: 03/17/2014] [Indexed: 11/19/2022] Open
Abstract
BACKGROUND A system providing disabled persons with control of various assistive devices with the tongue has been developed at Aalborg University in Denmark. The system requires an activation unit attached to the tongue with a small piercing. The aim of this study was to establish and evaluate a safe and tolerable procedure for medical tongue piercing and to evaluate the expected and perceived procedural discomfort. METHODS Four tetraplegic subjects volunteered for the study. A surgical protocol for a safe insertion of a tongue barbell piercing was presented using sterilized instruments and piercing parts. Moreover, post-procedural observations of participant complications such as bleeding, edema, and infection were recorded. Finally, procedural discomforts were monitored by VAS scores of pain, changes in taste and speech as well as problems related to hitting the teeth. RESULTS The piercings were all successfully inserted in less than 5 min and the pain level was moderate compared with oral injections. No bleeding, infection, embedding of the piercing, or tooth/gingival injuries were encountered; a moderate edema was found in one case without affecting the speech. In two cases the piercing rod later had to be replaced by a shorter rod, because participants complained that the rod hit their teeth. The replacements prevented further problems. Moreover, loosening of balls was encountered, which could be prevented with the addition of dental glue. No cases of swallowing or aspiration of the piercing parts were recorded. CONCLUSIONS The procedure proved simple, fast, and safe for insertion of tongue piercings for tetraplegic subjects in a clinical setting. The procedure represented several precautions in order to avoid risks in these susceptible participants with possible co-morbidity. No serious complications were encountered, and the procedure was found tolerable to the participants. The procedure may be used in future studies with tongue piercings being a prerequisite for similar systems, and this may include insertion in an out-patient setting.
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Affiliation(s)
- Bo Bentsen
- Center for Sensory Motor Interaction, Department of Health Science and Technology, Faculty of Medicine, Aalborg University, DK-9220 Aalborg, Denmark
| | - Michael Gaihede
- Department of Otolaryngology, Head & Neck Surgery, Aalborg University Hospital, DK-9000 Aalborg, Denmark
| | - Romulus Lontis
- Center for Sensory Motor Interaction, Department of Health Science and Technology, Faculty of Medicine, Aalborg University, DK-9220 Aalborg, Denmark
| | - Lotte NS Andreasen Struijk
- Center for Sensory Motor Interaction, Department of Health Science and Technology, Faculty of Medicine, Aalborg University, DK-9220 Aalborg, Denmark
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