| 1. |
- Antfolk, Christian, et al.
(författare)
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A Tactile Display System for Hand Prostheses to Discriminate Pressure and Individual Finger Localization
- 2010
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Ingår i: Journal of Medical and Biological Engineering. - : Taiwanese Society of Biomedical Engineering. - 1609-0985. ; 30:6, s. 355-359
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Tidskriftsartikel (refereegranskat)abstract
- No current commercially available myoelectrically controlled prosthetic hands provide conscious sensory feedback to the user. A system aiming at relocation of sensory input from a prosthetic hand equipped with force sensors to the forearm skin of amputees, a tactile display, has been developed and constructed. The system consists of five piezoresistive force sensors or, alternatively, a prosthetic hand equipped with force sensors, five digital servomotors with a lever and a circular plastic disk pushing on the skin, control electronics based on an MSP430 microcontroller and a test application implemented in LabVIEW running on a PC. The tactile display system is intended to be integrated into the socket of a hand prosthesis and used as a conscious sensory feedback system for hand amputees using a myoelectrically controlled hand prosthesis. The system will provide continuous force feedback from sensors in the fingertips of each prosthetic finger and will likely improve the users' controllability and perception of the prosthetic hand. Here we report on tests made on "a five site" localization discrimination task and three pressure level discrimination tasks on the forearm of five healthy participants (non-amputees) using the LabView application to generate the stimulations. A mean five-finger discrimination accuracy of 86% and a mean three-level pressure discrimination accuracy of 93% were achieved, indicating the system to be a viable method of producing sensory feedback on the level of individual fingers.
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| 2. |
- Antfolk, Christian, et al.
(författare)
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Artificial Redirection of Sensation From Prosthetic Fingers to the Phantom Hand Map on Transradial Amputees: Vibrotactile Versus Mechanotactile Sensory Feedback
- 2013
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Ingår i: IEEE Transactions on Neural Systems and Rehabilitation Engineering. - 1534-4320. ; 21:1, s. 112-120
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Tidskriftsartikel (refereegranskat)abstract
- This work assesses the ability of transradial amputees to discriminate multi-site tactile stimuli in sensory discrimination tasks. It compares different sensory feedback modalities using an artificial hand prosthesis in: 1) a modality matched paradigm where pressure recorded on the five fingertips of the hand was fed back as pressure stimulation on five target points on the residual limb; and 2) a modality mismatched paradigm where the pressures were transformed into mechanical vibrations and fed back. Eight transradial amputees took part in the study and were divided in two groups based on the integrity of their phantom map; group A had a complete phantom map on the residual limb whereas group B had an incomplete or nonexisting map. The ability in localizing stimuli was compared with that of 10 healthy subjects using the vibration feedback and 11 healthy subjects using the pressure feedback (in a previous study), on their forearms, in similar experiments. Results demonstrate that pressure stimulation surpassed vibrotactile stimulation in multi-site sensory feedback discrimination. Furthermore, we demonstrate that subjects with a detailed phantom map had the best discrimination performance and even surpassed healthy participants for both feedback paradigms whereas group B had the worst performance overall. Finally, we show that placement of feedback devices on a complete phantom map improves multi-site sensory feedback discrimination, independently of the feedback modality.
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| 3. |
- Antfolk, Christian, et al.
(författare)
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Design and technical construction of a tactile display for sensory feedback in a hand prosthesis system
- 2010
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Ingår i: BioMedical Engineering Online. - 1475-925X. ; 9
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Tidskriftsartikel (refereegranskat)abstract
- Background: The users of today's commercial prosthetic hands are not given any conscious sensory feedback. To overcome this deficiency in prosthetic hands we have recently proposed a sensory feedback system utilising a "tactile display" on the remaining amputation residual limb acting as man-machine interface. Our system uses the recorded pressure in a hand prosthesis and feeds back this pressure onto the forearm skin. Here we describe the design and technical solution of the sensory feedback system aimed at hand prostheses for trans-radial/humeral amputees. Critical parameters for the sensory feedback system were investigated. Methods: A sensory feedback system consisting of five actuators, control electronics and a test application running on a computer has been designed and built. Firstly, we investigate which force levels were applied to the forearm skin of the user while operating the sensory feedback system. Secondly, we study if the proposed system could be used together with a myoelectric control system. The displacement of the skin caused by the sensory feedback system would generate artefacts in the recorded myoelectric signals. Accordingly, EMG recordings were performed and an analysis of the these are included. The sensory feedback system was also preliminarily evaluated in a laboratory setting on two healthy non-amputated test subjects with a computer generating the stimuli, with regards to spatial resolution and force discrimination. Results: We showed that the sensory feedback system generated approximately proportional force to the angle of control. The system can be used together with a myoelectric system as the artefacts, generated by the actuators, were easily removed using a simple filter. Furthermore, the application of the system on two test subjects showed that they were able to discriminate tactile sensation with regards to spatial resolution and level of force. Conclusions: The results of these initial experiments in non-amputees indicate that the proposed tactile display, in its simple form, can be used to relocate tactile input from an artificial hand to the forearm and that the system can coexist with a myoelectric control systems. The proposed system may be a valuable addition to users of myoelectric prosthesis providing conscious sensory feedback during manipulation of objects.
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| 4. |
- Antfolk, Christian, et al.
(författare)
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Sensory feedback from a prosthetic hand based on air-mediated pressure from the hand to the forearm skin.
- 2012
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Ingår i: Journal of rehabilitation medicine : official journal of the UEMS European Board of Physical and Rehabilitation Medicine. - : Medical Journals Sweden AB. - 1651-2081. ; 44:8, s. 702-707
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Tidskriftsartikel (refereegranskat)abstract
- Objective: Lack of sensory feedback is a drawback in today's hand prostheses. We present here a non-invasive simple sensory feedback system, which provides the user of a prosthetic hand with sensory feedback on the arm stump. It is mediated by air in a closed loop system connecting silicone pads on the prosthetic hand with pads on the amputation stump. The silicone pads in a "tactile display" on the amputation stump expand when their corresponding sensor-bulb in the prosthesis is touched, evoking an experience of "real touch". Methods: Twelve trans-radial amputees and 20 healthy non-amputees participated in the study. We investigated the capacity of the system to mediate detection of touch, discrimination between different levels of pressure and, on the amputees also, the ability to locate touch. Results: The results showed a median touch threshold of 80 and 60 g in amputees and non-amputees, respectively, and 90% and 80% correct answers, respectively, in discrimination between 2 levels of pressure. The amputees located touch (3 sites) correctly in 96% of trials. Conclusion: This simple sensory feedback system has the potential to restore sensory feedback in hand amputees and thus it could be a useful tool to enhance prosthesis use.
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| 5. |
- Antfolk, Christian, et al.
(författare)
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Sensory feedback in upper limb prosthetics.
- 2013
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Ingår i: Expert Review of Medical Devices. - : Informa UK Limited. - 1745-2422 .- 1743-4440. ; 10:1, s. 45-54
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Tidskriftsartikel (refereegranskat)abstract
- One of the challenges facing prosthetic designers and engineers is to restore the missing sensory function inherit to hand amputation. Several different techniques can be employed to provide amputees with sensory feedback: sensory substitution methods where the recorded stimulus is not only transferred to the amputee, but also translated to a different modality (modality-matched feedback), which transfers the stimulus without translation and direct neural stimulation, which interacts directly with peripheral afferent nerves. This paper presents an overview of the principal works and devices employed to provide upper limb amputees with sensory feedback. The focus is on sensory substitution and modality matched feedback; the principal features, advantages and disadvantages of the different methods are presented.
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| 6. |
- Antfolk, Christian, et al.
(författare)
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SmartHand tactile display: A new concept for providing sensory feedback in hand prostheses.
- 2010
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Ingår i: Scandinavian Journal of Plastic and Reconstructive Surgery and Hand Surgery. - : Medical Journals Sweden AB. - 1651-2073. ; 44, s. 50-53
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Tidskriftsartikel (refereegranskat)abstract
- Abstract A major drawback with myoelectric prostheses is that they do not provide the user with sensory feedback. Using a new principle for sensory feedback, we did a series of experiments involving 11 healthy subjects. The skin on the volar aspect of the forearm was used as the target area for sensory input. Experiments included discrimination of site of stimuli and pressure levels at a single stimulation point. A tactile display based on digital servomotors with one actuating element for each of the five fingers was used as a stimulator on the forearm. The results show that the participants were able to discriminate between three fingers with an accuracy of 97%, between five fingers with an accuracy of 82%, and between five levels with an accuracy of 79%. The tactile display may prove a helpful tool in providing amputees with sensory feedback from a prosthetic hand by transferring tactile stimuli from the prosthetic hand to the skin at forearm level.
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| 7. |
- Antfolk, Christian, et al.
(författare)
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Transfer of tactile input from an artificial hand to the forearm: experiments in amputees and able-bodied volunteers
- 2013
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Ingår i: Disability and Rehabilitation: Assistive Technology. - : Informa UK Limited. - 1748-3115 .- 1748-3107. ; 8:3, s. 249-254
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Tidskriftsartikel (refereegranskat)abstract
- Abstract in UndeterminedPurpose:This study explores the possibilities of transferring peripheral tactile stimulations from an artificial hand to the forearm skin.Method:A tactile display applied to the forearm skin was used to transfer tactile input to the forearm from various locations on a hand displayed on a computer screen. Discernment of location, levels of pressure and a combination of the two in simulated functional grips was tested to quantify the participants' ability to accurately perceive the tactile stimulations presented. Ten participants (5 forearm amputees and 5 able-bodied volunteers) unfamiliar with the equipment participated in the three-stage experiments comprising a learning session with vision, a reinforced learning session without vision and a validation session without vision.Results:The location discernment accuracy was high in both groups (75.2% and 89.6% respectively). The capacity to differentiate between three different levels of pressure was also high (91.7% and 98.1% respectively in the two groups). Recognition of simulated grip was slightly more difficult with the groups scoring 58.7% and 68.0% respectively for accuracy in the validation session.Conclusions:This study demonstrates that it is possible, following a brief training period, to transfer tactile input from an artificial hand to the forearm skin. The level of accuracy was lower for the more complex task, simulated grip recognition, possibly because this represents a more complex task requiring higher order brain functions. These results could form the basis for developing sensory feedback in hand prostheses. [Box: see text].
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| 8. |
- Antfolk, Christian, et al.
(författare)
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Using EMG for Real-time Prediction of Joint Angles to Control a Prosthetic Hand Equipped with a Sensory Feedback System
- 2010
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Ingår i: Journal of Medical and Biological Engineering. - : Taiwanese Society of Biomedical Engineering. - 1609-0985. ; 30:6, s. 399-405
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Tidskriftsartikel (refereegranskat)abstract
- All commercially available upper limb prosthesis controllers only allow the hand to be commanded in an open and close fashion without any sensory feedback to the user. Here the evaluation of a multi-degree of freedom hand controlled using a real-time EMG pattern recognition algorithm and incorporating a sensory feedback system is reported. The hand prosthesis, called SmartHand, was controlled in real-time by using 16 myoelectric signals from the residual limb of a 25-year old male transradial amputee in a two day long evaluation session. Initial training of the EMG pattern recognition algorithm was performed with a dataglove fitted to the contralateral hand recording joint angle positions of the fingers and mapping joint angles of the fingers to the EMG data. In the following evaluation sessions, the myoelectric signals were classified using local approximation and lazy learning, producing finger joint angle outputs and consequently controlling the prosthetic hand. Sensory information recorded from force sensors in the artificial hand was relayed to actuators, integrated in the socket of the prosthesis, continuously delivering force sensory feedback stimulations to the stump of the amputee. The participant was able to perform several dextrous movements as well as functional grip tasks after only two hours of training and increased his controllability during the two day session. In the final evaluation session a mean classification accuracy of 86% was achieved.
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| 9. |
- Cipriani, Christian, et al.
(författare)
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Online Myoelectric Control of a Dexterous Hand Prosthesis by Transradial Amputees
- 2011
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Ingår i: IEEE Transactions on Neural Systems and Rehabilitation Engineering. - 1534-4320. ; 19:3, s. 260-270
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Tidskriftsartikel (refereegranskat)abstract
- A real-time pattern recognition algorithm based on k-nearest neighbors and lazy learning was used to classify, voluntary electromyography (EMG) signals and to simultaneously control movements of a dexterous artificial hand. EMG signals were superficially recorded by eight pairs of electrodes from the stumps of five transradial amputees and forearms of five able-bodied participants and used online to control a robot hand. Seven finger movements (not involving the wrist) were investigated in this study. The first objective was to understand whether and to which extent it is possible to control continuously and in real-time, the finger postures of a prosthetic hand, using superficial EMG, and a practical classifier, also taking advantage of the direct visual feedback of the moving hand. The second objective was to calculate statistical differences in the performance between participants and groups, thereby assessing the general applicability of the proposed method. The average accuracy of the classifier was 79% for amputees and 89% for able-bodied participants. Statistical analysis of the data revealed a difference in control accuracy based on the aetiology of amputation, type of prostheses regularly used and also between able-bodied participants and amputees. These results are encouraging for the development of noninvasive EMG interfaces for the control of dexterous prostheses.
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| 10. |
- Fontana, Carolina, et al.
(författare)
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Rapid structural elucidation of polysaccharides employing predicted functions of glycosyltransferases and NMR data : Application to the O-antigen of Escherichia coli O59
- 2014
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Ingår i: Glycobiology. - : Oxford University Press (OUP). - 0959-6658 .- 1460-2423. ; 24:5, s. 450-457
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Tidskriftsartikel (refereegranskat)abstract
- A computerized method that uses predicted functions of glycosyltransferases (GTs) in conjunction with unassigned NMR data has been developed for the structural elucidation of bacterial polysaccharides (PSs). In this approach, information about the action of GTs (consisting of possible sugar residues used as donors and/or acceptors, as well as the anomeric configuration and/or substitution position in the respective glycosidic linkages) is extracted from the Escherichia coli O-antigen database and is submitted, together with the unassigned NMR data, to the CASPER program. This time saving methodology, which alleviates the need for chemical analysis, was successfully implemented in the structural elucidation of the O-antigen PS of E. coli O59. The repeating unit of the O-specific chain was determined using the O-deacylated PS and has a branched structure, namely, -> 6)[alpha-d-GalpA3Ac/4Ac-(1 -> 3)]-alpha-d-Manp-(1 -> 3)-alpha-d-Manp-(1 -> 3)-beta-d-Manp-(1 -> 3)-alpha-d-GlcpNAc-(1 ->. The identification of the O-acetylation positions was efficiently performed by comparison of the H-1,C-13 HSQC NMR spectra of the O-deacylated lipopolysaccharide and the lipid-free PS in conjunction with chemical shift predictions made by the CASPER program. The side-chain d-GalpA residue carries one equivalent of O-acetyl groups at the O-3 and O-4 positions distributed in the LPS in a 3:7 ratio, respectively. The presence of O-acetyl groups in the repeating unit of the E. coli O59 PS is consistent with the previously proposed acetyltransferase WclD in the O-antigen gene cluster.
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