Usability of the inductive tongue computer interface: Internet use, speaking, and drinking - evaluated by two users with disabilities.

Tongue computer interfaces have shown promising for both computer control and for control of assistive technologies and robotics. Still, evidence is lacking in relation to their usability resulting in speculations on their effectiveness for general computer use and their impact on other activities such as speaking, drinking, and eating. This paper presents the results of such a usability study performed with two individuals with tetraplegia.

Using workspace restrictiveness for adaptive velocity adjustment of assistive robots and upper limb exoskeletons.

Individuals with severe disabilities can benefit from assistive robotic systems (ARS) for performing activities of daily living. However, limited control interfaces are available for individuals who cannot use their hands for the control, and most of these interfaces require high effort to perform simple tasks. Therefore, autonomous and intelligent control strategies were proposed for assisting with the control in complex tasks.

Assessing Mode-Switching Strategies for Assistive Robotic Manipulators Using a Preliminary Version of the Novel Non-invasive Tongue-Computer Interface.

The inductive tongue-computer interface allows individuals with tetraplegia to control assistive devices. However, controlling assistive robotic arms often requires more than 14 different commands, which cannot always fit into a single control layout. Previous studies have separated the commands into modes, but few have investigated strategies to switch between them.

Simulation-based design optimization of a wrist exoskeleton.

Exoskeletons are widely used in the field of rehabilitation robotics. Upper limb exoskeletons (ULEs) can be very useful for patients with diminished ability to control their limbs in aiding activities of daily living (ADLs). The design of ULEs must account for a human's limitations and ability to work with an exoskeleton.

Biomimetic Tendon-Based Mechanism for Finger Flexion and Extension in a Soft Hand Exoskeleton: Design and Experimental Assessment.

This study proposes a bioinspired exotendon routing configuration for a tendon-based mechanism to provide finger flexion and extension that utilizes a single motor to reduce the complexity of the system. The configuration was primarily inspired by the extrinsic muscle-tendon units of the human musculoskeletal system. The function of the intrinsic muscle-tendon units was partially compensated by adding a minor modification to the configuration of the extrinsic units.

Comparing the Usability of Alternative EEG Devices to Traditional Electrode Caps for SSVEP-BCI Controlled Assistive Robots.

Despite having the potential to improve the lives of severely paralyzed users, non-invasive Brain Computer Interfaces (BCI) have yet to be integrated into their daily lives. The widespread adoption of BCI-driven assistive technology is hindered by its lacking usability, as both end-users and researchers alike find fault with traditional EEG caps. In this paper, we compare the usability of four EEG recording devices for Steady-State Visually Evoked Potentials (SSVEP)-BCI applications: an EEG cap (active gel electrodes), two headbands (passive gel or active dry electrodes), and two adhesive electrodes placed on each mastoid.

Increase and Decrease in Velocity and Force During Exercise with a Hybrid Robotic-FES Rehabilitation System.

Early rehabilitation is beneficial for stroke patients, but it is often delayed since the patients are often bedbound due to their general condition. New robotic rehabilitation devices such as ROBERT® enable patients to exercise even while bedbound. During pilot testing of an automated FES-delivery system combined with ROBERT®, we observed both increased and decreased exerted velocity and interaction force during repetitive exercising with the system.

On the change in Speech Quality and Speed with a Tongue Interface for Control of Rehabilitation Robotics - A Case report.

Previous studies have described inductive tongue computer interfaces (ITCI) as a way to manipulate and control assistive robotics, and at least one commercial company is manufacturing ITCI today. This case report investigates the influence of an ITCI on the speed and quality of speech. An individual with tetraplegia read aloud a short part of "The Ugly Duckling", a well-known story by Hans Christian Andersen, in her native language Danish.

Development of inductive sensors for a robotic interface based on noninvasive tongue control.

Tongue based robotic interfaces have shown the potential to control assistive robotic devices developed for individuals with severe disabilities due to spinal cord injury. However, current tongue-robotic interfaces require invasive methods such as piercing to attach an activation unit (AU) to the tongue. A noninvasive tongue interface concept, which used a frame integrated AU instead of a tongue attached AU, was previously proposed.

User Based Development and Test of the EXOTIC Exoskeleton: Empowering Individuals with Tetraplegia Using a Compact, Versatile, 5-DoF Upper Limb Exoskeleton Controlled through Intelligent Semi-Automated Shared Tongue Control.

This paper presents the EXOTIC- a novel assistive upper limb exoskeleton for individuals with complete functional tetraplegia that provides an unprecedented level of versatility and control. The current literature on exoskeletons mainly focuses on the basic technical aspects of exoskeleton design and control while the context in which these exoskeletons should function is less or not prioritized even though it poses important technical requirements. We considered all sources of design requirements, from the basic technical functions to the real-world practical application.

The impact of an underactuated arm exoskeleton on wrist and elbow kinematics during Prioritized Activities of daily living.

This study addresses the feasibility of underactuated arm exoskeletons as an alternative solution to the often bulky and heavy exoskeletons which actuate the shoulder with 3 DoF. Specifically, the study investigates how the wrist and elbow joint adapts their kinematics when the shoulder abduction is constrained. Ten healthy participants conducted three different grasping activities of daily living, during natural motion and during constrained shoulder abduction at two fixed angles: the resting position angle and at an angle of 10 ° abduction from the resting position.

Eyes-Free Tongue Gesture and Tongue Joystick Control of a Five DOF Upper-Limb Exoskeleton for Severely Disabled Individuals.

Spinal cord injury can leave the affected individual severely disabled with a low level of independence and quality of life. Assistive upper-limb exoskeletons are one of the solutions that can enable an individual with tetraplegia (paralysis in both arms and legs) to perform simple activities of daily living by mobilizing the arm. Providing an efficient user interface that can provide full continuous control of such a device-safely and intuitively-with multiple degrees of freedom (DOFs) still remains a challenge.

Preliminary examination of the potential of robot-assisted sonography - An ergonomic tool for obstetric sonographers.

The aim of this study was to explore the ergonomic challenges, the needs and reservations related to robot-assisted ultrasound for obstetric sonographers and thereby to provide information for the design of robotic solutions. A mixed-method design was used, where data from the obstetric sonographers and their immediate managers from 18 out of a Danish total of 20 obstetric departments was collected. The data was collected through a survey and interviews.

Bio-inspired tendon driven mechanism for simultaneous finger joints flexion using a soft hand exoskeleton.

A new tendon driven mechanism, embedded into a soft hand exoskeleton for rehabilitation and assistance, was proposed in this study. The proposed solution was a pulley flexion mechanism inspired by the human musculoskeletal system to enable a natural and comfortable finger flexion. A biomechanical constraint for the finger flexion motion states that the relation between the proximal interphalangeal joint angle of the finger should always be flexed around 1.

A review of computer vision for semi-autonomous control of assistive robotic manipulators (ARMs).

The advances in artificial intelligence have started to reach a level where autonomous systems are becoming increasingly popular as a way to aid people in their everyday life. Such intelligent systems may especially be beneficially for people struggling to complete common everyday tasks, such as individuals with movement-related disabilities. The focus of this paper is hence to review recent work in using computer vision for semi-autonomous control of assistive robotic manipulators (ARMs).

Wireless intraoral tongue control of an assistive robotic arm for individuals with tetraplegia.

Background: For an individual with tetraplegia assistive robotic arms provide a potentially invaluable opportunity for rehabilitation. However, there is a lack of available control methods to allow these individuals to fully control the assistive arms.

Methods: Here we show that it is possible for an individual with tetraplegia to use the tongue to fully control all 14 movements of an assistive robotic arm in a three dimensional space using a wireless intraoral control system, thus allowing for numerous activities of daily living.

Error-Free Text Typing Performance of an Inductive Intra-Oral Tongue Computer Interface for Severely Disabled Individuals.

For severely paralyzed individuals, alternative computer interfaces are becoming increasingly essential for everyday life as social and vocational activities are facilitated by information technology and as the environment becomes more automatic and remotely controllable. Tongue computer interfaces have proven to be desirable by the users partly due to their high degree of aesthetic acceptability, but so far the mature systems have shown a relatively low error-free text typing efficiency. This paper evaluated the intra-oral inductive tongue computer interface (ITCI) in its intended use: Error-free text typing in a generally available text editing system, Word.

A comparative study of virtual hand prosthesis control using an inductive tongue control system.

This study compares the time required to activate a grasp or function of a hand prosthesis when using an electromyogram (EMG) based control scheme and when using a control scheme combining EMG and control signals from an inductive tongue control system (ITCS). Using a cross-over study design, 10 able-bodied subjects used a computer model of a hand and completed simulated grasping exercises. The time required to activate grasps was recorded and analyzed for both control schemes.

Mapping sensor activation time for typing tasks performed with a tongue controlled oral interface.

Two tetraplegic subjects performed typing tasks on a computer in an experiment using a tongue controlled oral interface. This paper reports mapping of the sensor activation time for a full alphabet text input using 10 inductive sensors. A small cylindrical piece of soft ferromagnetic material activated the sensors when placed at or glided along the surface of the sensor.

Alternative design of inductive pointing device for oral interface for computers and wheelchairs.

An inductive pointing device was designed and implemented successfully in a tongue controlled oral interface. Sensors were manufactured as an assembly of multilayer coils in the printed circuit board technology on two pads. The sensor pads were encapsulated together with electronics and battery in a mouthpiece, placed in the upper palate of the oral cavity.

Effects of sensory feedback in intra-oral target selection tasks with the tongue.

Purpose: To investigate the effects of visual and tactile intra-oral sensor-position feedback for target selection tasks with the tip of the tongue.

Method: Target selection tasks were performed using an inductive tongue-computer interface (ITCI). Visual feedback was established by highlighting the area on a visual display corresponding to the activated intra-oral target.

Clinical evaluation of wireless inductive tongue computer interface for control of computers and assistive devices.

Typing performance of a full alphabet keyboard and a joystick type of mouse (with on-screen keyboard) provided by a wireless integrated tongue control system (TCS) has been investigated. The speed and accuracy have been measured in a form of a throughput defining the true correct words per minute [cwpm]. Training character sequences were typed in a dedicated interface that provided visual feedback of activated sensors, a map of the alphabet associated, and the task character.

Inductive tongue control of powered wheelchairs.

Alternative and effective methods for controlling powered wheelchairs are important to individuals with tetraplegia and similar impairments whom are unable to use the standard joystick. This paper describes a system where tongue movements are used to control a powered wheelchair thus providing users, with high level spinal cord injuries, full control of their wheelchair. The system is based on an inductive tongue control system developed at Center for Sensory-Motor Interaction (SMI), Aalborg University.

TongueWise: Tongue-computer interface software for people with tetraplegia.

Many computer interfaces and assistive devices for people with motor disabilities limit the input dimensionality from user to system, in many cases leading to single switch interfaces where the user can only press one button. This can, either limit the level of direct access to the functionalities of the operating system, or slow down speed of interaction. In this paper we present TongueWise: a software developed for a tongue computer interface that can be activated with the tip of the tongue and that provides direct input that covers most of the standard keyboard and mouse commands.