Movement-Based Prosthesis Control with Angular Trajectory Is Getting Closer to Natural Arm Coordination.

Traditional myoelectric controls of trans-humeral prostheses fail to provide intuitive coordination of the necessary degrees of freedom. We previously showed that by using artificial neural network predictions to reconstruct distal joints, based on the shoulder posture and movement goals (i.e.

3D-ARM-Gaze: a public dataset of 3D Arm Reaching Movements with Gaze information in virtual reality.

3D-ARM-Gaze is a public dataset designed to provide natural arm movements together with visual and gaze information when reaching objects in a wide reachable space from a precisely controlled, comfortably seated posture. Participants were involved in picking and placing objects in various positions and orientations in a virtual environment, whereby a specific procedure maximized the workspace explored while ensuring a consistent seated posture by guiding participants to a predetermined neutral posture via visual feedback from the trunk and shoulders. These experimental settings enabled to capture natural arm movements with high median success rates (>98% objects reached) and minimal compensatory movements.

Asymmetric multi-task learning for interpretable gaze-driven grasping action forecasting.

This work tackles the problem of automatically predicting the grasping intention of humans observing their environment, with eye-tracker glasses and video cameras recording the scene view. Our target application is the assistance to people with motor disabilities and potential cognitive impairments, using assistive robotics. Our proposal leverages the analysis of human attention captured in the form of gaze fixations recorded by an eye-tracker on the first person video, as the anticipation of prehension actions is a well studied and well known phenomenon.

Intuitive movement-based prosthesis control enables arm amputees to reach naturally in virtual reality.

Impressive progress is being made in bionic limbs design and control. Yet, controlling the numerous joints of a prosthetic arm necessary to place the hand at a correct position and orientation to grasp objects remains challenging. Here, we designed an intuitive, movement-based prosthesis control that leverages natural arm coordination to predict distal joints missing in people with transhumeral limb loss based on proximal residual limb motion and knowledge of the movement goal.

Right-left hand asymmetry in manual tracking: when poorer control is associated with better adaptation and interlimb transfer.

To date, interlimb transfer following visuomotor adaptation has been mainly investigated through discrete reaching movements. Here we explored this issue in the context of continuous manual tracking, a task in which the contribution of online feedback mechanisms is crucial, and in which there is a well-established right (dominant) hand advantage under baseline conditions. We had two objectives (1) to determine whether this preexisting hand asymmetry would persist under visuomotor rotation, (2) to examine interlimb transfer by assessing whether prior experience with the rotation by one hand benefit to the other hand.

Asymmetrical transfer of adaptation between reaching and tracking: implications for feedforward and feedback processes.

Reaching and manual tracking are two very common tasks for studying human sensorimotor processes. Although these motor tasks rely both on feedforward and feedback processes, emphasis is more on feedforward processes for reaching and feedback processes for tracking. The extent to which feedforward and feedback processes are interrelated when being updated is not settled yet.

Sensory substitution of elbow proprioception to improve myoelectric control of upper limb prosthesis: experiment on healthy subjects and amputees.

Background: Current myoelectric prostheses lack proprioceptive information and rely on vision for their control. Sensory substitution is increasingly developed with non-invasive vibrotactile or electrotactile feedback, but most systems are designed for grasping or object discriminations, and few were tested for online control in amputees. The objective of this work was evaluate the effect of a novel vibrotactile feedback on the accuracy of myoelectric control of a virtual elbow by healthy subjects and participants with an upper-limb amputation at humeral level.

Hybrid FPGA-CPU-Based Architecture for Object Recognition in Visual Servoing of Arm Prosthesis.

The present paper proposes an implementation of a hybrid hardware-software system for the visual servoing of prosthetic arms. We focus on the most critical vision analysis part of the system. The prosthetic system comprises a glass-worn eye tracker and a video camera, and the task is to recognize the object to grasp.

Competition, Conflict and Change of Mind: A Role of GABAergic Inhibition in the Primary Motor Cortex.

Deciding between different voluntary movements implies a continuous control of the competition between potential actions. Many theories postulate a leading role of prefrontal cortices in this executive function, but strong evidence exists that a motor region like the primary motor cortex (M1) is also involved, possibly inhibitory mechanisms. This was already shown during the pre-movement decision period, but not after movement onset.

Shoulder kinematics plus contextual target information enable control of multiple distal joints of a simulated prosthetic arm and hand.

Background: Prosthetic restoration of reach and grasp function after a trans-humeral amputation requires control of multiple distal degrees of freedom in elbow, wrist and fingers. However, such a high level of amputation reduces the amount of available myoelectric and kinematic information from the residual limb.

Methods: To overcome these limits, we added contextual information about the target's location and orientation such as can now be extracted from gaze tracking by computer vision tools.

Biological Plausibility of Arm Postures Influences the Controllability of Robotic Arm Teleoperation.

Objective: We investigated how participants controlling a humanoid robotic arm's 3D endpoint position by moving their own hand are influenced by the robot's postures. We hypothesized that control would be facilitated (impeded) by biologically plausible (implausible) postures of the robot.

Background: Kinematic redundancy, whereby different arm postures achieve the same goal, is such that a robotic arm or prosthesis could theoretically be controlled with less signals than constitutive joints.

Correction to: Effect of vibration characteristics and vibror arrangement on the tactile perception of the upper arm in healthy subjects and upper limb amputees.

The original article [1] contained an error whereby the captions to Fig. 3 and Fig. 8 were mistakenly interchanged.

Task Errors Drive Memories That Improve Sensorimotor Adaptation.

Traditional views of sensorimotor adaptation (i.e., adaptation of movements to perturbed sensory feedback) emphasize the role of automatic, implicit correction of sensory prediction errors.

Effect of vibration characteristics and vibror arrangement on the tactile perception of the upper arm in healthy subjects and upper limb amputees.

Background: Vibrotactile stimulation is a promising venue in the field of prosthetics to retrain sensory feedback deficits following amputation. Discrimination is well established at the forearm level but not at the upper arm level. Moreover, the effects of combining vibration characteristics such as duration and intensity has never been investigated.

How optimal is bimanual tracking? The key role of hand coordination in space.

When coordinating two hands to achieve a common goal, the nervous system has to assign responsibility to each hand. Optimal control theory suggests that this problem is solved by minimizing costs such as the variability of movement and effort. However, the natural tendency to produce similar movements during bimanual tasks has been somewhat ignored by this approach.

Reachy, a 3D-Printed Human-Like Robotic Arm as a Testbed for Human-Robot Control Strategies.

To this day, despite the increasing motor capability of robotic devices, elaborating efficient control strategies is still a key challenge in the field of humanoid robotic arms. In particular, providing a human "pilot" with efficient ways to drive such a robotic arm requires thorough testing prior to integration into a finished system. Additionally, when it is needed to preserve anatomical consistency between pilot and robot, such testing requires to employ devices showing human-like features.

Task errors contribute to implicit aftereffects in sensorimotor adaptation.

Perturbations of sensory feedback evoke sensory prediction errors (discrepancies between predicted and actual sensory outcomes of movements), and reward prediction errors (discrepancies between predicted rewards and actual rewards). When our task is to hit a target, we expect to succeed in hitting the target, and so we experience a reward prediction error if the perturbation causes us to miss it. These discrepancies between intended task outcomes and actual task outcomes, termed "task errors," are thought to drive the use of strategic processes to restore success, although their role is incompletely understood.

Unilateral movement preparation causes task-specific modulation of TMS responses in the passive, opposite limb.

Key Points: Activity in the primary motor cortices of both hemispheres increases during unilateral movement preparation, but the functional role of ipsilateral motor cortex activity is unknown. Ipsilateral motor cortical activity could represent subliminal 'motor planning' for the passive limb. Alternatively, it could represent the state of the active limb, to support coordination between the limbs should a bimanual movement be required.

Performance and Usability of Various Robotic Arm Control Modes from Human Force Signals.

Elaborating an efficient and usable mapping between input commands and output movements is still a key challenge for the design of robotic arm prostheses. In order to address this issue, we present and compare three different control modes, by assessing them in terms of performance as well as general usability. Using an isometric force transducer as the command device, these modes convert the force input signal into either a position or a velocity vector, whose magnitude is linearly or quadratically related to force input magnitude.

Action history influences subsequent movement via two distinct processes.

The characteristics of goal-directed actions tend to resemble those of previously executed actions, but it is unclear whether such effects depend strictly on action history, or also reflect context-dependent processes related to predictive motor planning. Here we manipulated the time available to initiate movements after a target was specified, and studied the effects of predictable movement sequences, to systematically dissociate effects of the most recently executed movement from the movement required next. We found that directional biases due to recent movement history strongly depend upon movement preparation time, suggesting an important contribution from predictive planning.

Distinct coordinate systems for adaptations of movement direction and extent.

Learned compensations for perturbed visual feedback of movement extent and direction generalize differently to unpracticed movement directions, which suggests different underlying neural mechanisms. Here we investigated whether gain and rotation adaptations are consistent with representation in different coordinate systems. Subjects performed a force-aiming task with the wrist and learned different gains or rotations for different force directions.

Creating semantics in tool use.

This article presents the first evidence for a functional link between tool use and the processing of abstract symbols like Arabic numbers. Participants were required to perform a tool-use task after the processing of an Arabic number. These numbers represented either a small (2 or 3) or a large magnitude (8 or 9).

Savings for visuomotor adaptation require prior history of error, not prior repetition of successful actions.

When we move, perturbations to our body or the environment can elicit discrepancies between predicted and actual outcomes. We readily adapt movements to compensate for such discrepancies, and the retention of this learning is evident as savings, or faster readaptation to a previously encountered perturbation. The mechanistic processes contributing to savings, or even the necessary conditions for savings, are not fully understood.

Strength Training Biases Goal-Directed Aiming.

Purpose: Goal-directed movements tend to resemble the characteristics of previously executed actions. Here we investigated whether a single bout of strength training, which typically involves stereotyped actions requiring strong neural drive, can bias subsequent aiming behavior toward the direction of trained forces.

Methods: In experiment 1 (n = 10), we tested the direction of force exerted in an isometric aiming task before and after 40 repetitions of 2-s maximal-force ballistic contractions toward a single directional target.

Enhanced crosslimb transfer of force-field learning for dynamics that are identical in extrinsic and joint-based coordinates for both limbs.

Humans are able to adapt their motor commands to make accurate movements in novel sensorimotor environments, such as when wielding tools that alter limb dynamics. However, it is unclear to what extent sensorimotor representations, obtained through experience with one limb, are available to the opposite, untrained limb and in which form they are available. Here, we compared crosslimb transfer of force-field compensation after participants adapted to a velocity-dependent curl field, oriented either in the sagittal or the transverse plane.