A robot hand testbed designed for enhancing embodiment and functional neurorehabilitation of body schema in subjects with upper limb impairment or loss.
Identifieur interne : 000399 ( PubMed/Corpus ); précédent : 000398; suivant : 000400A robot hand testbed designed for enhancing embodiment and functional neurorehabilitation of body schema in subjects with upper limb impairment or loss.
Auteurs : Randall B. Hellman ; Eric Chang ; Justin Tanner ; Stephen I. Helms Tillery ; Veronica J. SantosSource :
- Frontiers in human neuroscience [ 1662-5161 ] ; 2015.
Abstract
Many upper limb amputees experience an incessant, post-amputation "phantom limb pain" and report that their missing limbs feel paralyzed in an uncomfortable posture. One hypothesis is that efferent commands no longer generate expected afferent signals, such as proprioceptive feedback from changes in limb configuration, and that the mismatch of motor commands and visual feedback is interpreted as pain. Non-invasive therapeutic techniques for treating phantom limb pain, such as mirror visual feedback (MVF), rely on visualizations of postural changes. Advances in neural interfaces for artificial sensory feedback now make it possible to combine MVF with a high-tech "rubber hand" illusion, in which subjects develop a sense of embodiment with a fake hand when subjected to congruent visual and somatosensory feedback. We discuss clinical benefits that could arise from the confluence of known concepts such as MVF and the rubber hand illusion, and new technologies such as neural interfaces for sensory feedback and highly sensorized robot hand testbeds, such as the "BairClaw" presented here. Our multi-articulating, anthropomorphic robot testbed can be used to study proprioceptive and tactile sensory stimuli during physical finger-object interactions. Conceived for artificial grasp, manipulation, and haptic exploration, the BairClaw could also be used for future studies on the neurorehabilitation of somatosensory disorders due to upper limb impairment or loss. A remote actuation system enables the modular control of tendon-driven hands. The artificial proprioception system enables direct measurement of joint angles and tendon tensions while temperature, vibration, and skin deformation are provided by a multimodal tactile sensor. The provision of multimodal sensory feedback that is spatiotemporally consistent with commanded actions could lead to benefits such as reduced phantom limb pain, and increased prosthesis use due to improved functionality and reduced cognitive burden.
DOI: 10.3389/fnhum.2015.00026
PubMed: 25745391
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Hellman</name><affiliation><nlm:affiliation>Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Arizona State University , Tempe, AZ , USA ; Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, University of California Los Angeles , Los Angeles, CA , USA.</nlm:affiliation></affiliation></author><author><name sortKey="Chang, Eric" sort="Chang, Eric" uniqKey="Chang E" first="Eric" last="Chang">Eric Chang</name><affiliation><nlm:affiliation>Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Arizona State University , Tempe, AZ , USA.</nlm:affiliation></affiliation></author><author><name sortKey="Tanner, Justin" sort="Tanner, Justin" uniqKey="Tanner J" first="Justin" last="Tanner">Justin Tanner</name><affiliation><nlm:affiliation>SensoriMotor Research Group, School of Biological and Health Systems Engineering, Arizona State University , Tempe, AZ , USA.</nlm:affiliation></affiliation></author><author><name sortKey="Helms Tillery, Stephen I" sort="Helms Tillery, Stephen I" uniqKey="Helms Tillery S" first="Stephen I" last="Helms Tillery">Stephen I. Helms Tillery</name><affiliation><nlm:affiliation>SensoriMotor Research Group, School of Biological and Health Systems Engineering, Arizona State University , Tempe, AZ , USA.</nlm:affiliation></affiliation></author><author><name sortKey="Santos, Veronica J" sort="Santos, Veronica J" uniqKey="Santos V" first="Veronica J" last="Santos">Veronica J. Santos</name><affiliation><nlm:affiliation>Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Arizona State University , Tempe, AZ , USA ; Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, University of California Los Angeles , Los Angeles, CA , USA.</nlm:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2015">2015</date><idno type="doi">10.3389/fnhum.2015.00026</idno><idno type="RBID">pubmed:25745391</idno><idno type="pmid">25745391</idno><idno type="wicri:Area/PubMed/Corpus">000399</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">A robot hand testbed designed for enhancing embodiment and functional neurorehabilitation of body schema in subjects with upper limb impairment or loss.</title><author><name sortKey="Hellman, Randall B" sort="Hellman, Randall B" uniqKey="Hellman R" first="Randall B" last="Hellman">Randall B. Hellman</name><affiliation><nlm:affiliation>Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Arizona State University , Tempe, AZ , USA ; Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, University of California Los Angeles , Los Angeles, CA , USA.</nlm:affiliation></affiliation></author><author><name sortKey="Chang, Eric" sort="Chang, Eric" uniqKey="Chang E" first="Eric" last="Chang">Eric Chang</name><affiliation><nlm:affiliation>Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Arizona State University , Tempe, AZ , USA.</nlm:affiliation></affiliation></author><author><name sortKey="Tanner, Justin" sort="Tanner, Justin" uniqKey="Tanner J" first="Justin" last="Tanner">Justin Tanner</name><affiliation><nlm:affiliation>SensoriMotor Research Group, School of Biological and Health Systems Engineering, Arizona State University , Tempe, AZ , USA.</nlm:affiliation></affiliation></author><author><name sortKey="Helms Tillery, Stephen I" sort="Helms Tillery, Stephen I" uniqKey="Helms Tillery S" first="Stephen I" last="Helms Tillery">Stephen I. Helms Tillery</name><affiliation><nlm:affiliation>SensoriMotor Research Group, School of Biological and Health Systems Engineering, Arizona State University , Tempe, AZ , USA.</nlm:affiliation></affiliation></author><author><name sortKey="Santos, Veronica J" sort="Santos, Veronica J" uniqKey="Santos V" first="Veronica J" last="Santos">Veronica J. Santos</name><affiliation><nlm:affiliation>Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Arizona State University , Tempe, AZ , USA ; Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, University of California Los Angeles , Los Angeles, CA , USA.</nlm:affiliation></affiliation></author></analytic><series><title level="j">Frontiers in human neuroscience</title><idno type="eISSN">1662-5161</idno><imprint><date when="2015" type="published">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Many upper limb amputees experience an incessant, post-amputation "phantom limb pain" and report that their missing limbs feel paralyzed in an uncomfortable posture. One hypothesis is that efferent commands no longer generate expected afferent signals, such as proprioceptive feedback from changes in limb configuration, and that the mismatch of motor commands and visual feedback is interpreted as pain. Non-invasive therapeutic techniques for treating phantom limb pain, such as mirror visual feedback (MVF), rely on visualizations of postural changes. Advances in neural interfaces for artificial sensory feedback now make it possible to combine MVF with a high-tech "rubber hand" illusion, in which subjects develop a sense of embodiment with a fake hand when subjected to congruent visual and somatosensory feedback. We discuss clinical benefits that could arise from the confluence of known concepts such as MVF and the rubber hand illusion, and new technologies such as neural interfaces for sensory feedback and highly sensorized robot hand testbeds, such as the "BairClaw" presented here. Our multi-articulating, anthropomorphic robot testbed can be used to study proprioceptive and tactile sensory stimuli during physical finger-object interactions. Conceived for artificial grasp, manipulation, and haptic exploration, the BairClaw could also be used for future studies on the neurorehabilitation of somatosensory disorders due to upper limb impairment or loss. A remote actuation system enables the modular control of tendon-driven hands. The artificial proprioception system enables direct measurement of joint angles and tendon tensions while temperature, vibration, and skin deformation are provided by a multimodal tactile sensor. The provision of multimodal sensory feedback that is spatiotemporally consistent with commanded actions could lead to benefits such as reduced phantom limb pain, and increased prosthesis use due to improved functionality and reduced cognitive burden.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="PubMed-not-MEDLINE"><PMID Version="1">25745391</PMID><DateCreated><Year>2015</Year><Month>03</Month><Day>06</Day></DateCreated><DateCompleted><Year>2015</Year><Month>03</Month><Day>06</Day></DateCompleted><DateRevised><Year>2015</Year><Month>03</Month><Day>09</Day></DateRevised><Article PubModel="Electronic-eCollection"><Journal><ISSN IssnType="Electronic">1662-5161</ISSN><JournalIssue CitedMedium="Print"><Volume>9</Volume><PubDate><Year>2015</Year></PubDate></JournalIssue><Title>Frontiers in human neuroscience</Title><ISOAbbreviation>Front Hum Neurosci</ISOAbbreviation></Journal><ArticleTitle>A robot hand testbed designed for enhancing embodiment and functional neurorehabilitation of body schema in subjects with upper limb impairment or loss.</ArticleTitle><Pagination><MedlinePgn>26</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.3389/fnhum.2015.00026</ELocationID><Abstract><AbstractText>Many upper limb amputees experience an incessant, post-amputation "phantom limb pain" and report that their missing limbs feel paralyzed in an uncomfortable posture. One hypothesis is that efferent commands no longer generate expected afferent signals, such as proprioceptive feedback from changes in limb configuration, and that the mismatch of motor commands and visual feedback is interpreted as pain. Non-invasive therapeutic techniques for treating phantom limb pain, such as mirror visual feedback (MVF), rely on visualizations of postural changes. Advances in neural interfaces for artificial sensory feedback now make it possible to combine MVF with a high-tech "rubber hand" illusion, in which subjects develop a sense of embodiment with a fake hand when subjected to congruent visual and somatosensory feedback. We discuss clinical benefits that could arise from the confluence of known concepts such as MVF and the rubber hand illusion, and new technologies such as neural interfaces for sensory feedback and highly sensorized robot hand testbeds, such as the "BairClaw" presented here. Our multi-articulating, anthropomorphic robot testbed can be used to study proprioceptive and tactile sensory stimuli during physical finger-object interactions. Conceived for artificial grasp, manipulation, and haptic exploration, the BairClaw could also be used for future studies on the neurorehabilitation of somatosensory disorders due to upper limb impairment or loss. A remote actuation system enables the modular control of tendon-driven hands. The artificial proprioception system enables direct measurement of joint angles and tendon tensions while temperature, vibration, and skin deformation are provided by a multimodal tactile sensor. The provision of multimodal sensory feedback that is spatiotemporally consistent with commanded actions could lead to benefits such as reduced phantom limb pain, and increased prosthesis use due to improved functionality and reduced cognitive burden.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Hellman</LastName><ForeName>Randall B</ForeName><Initials>RB</Initials><AffiliationInfo><Affiliation>Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Arizona State University , Tempe, AZ , USA ; Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, University of California Los Angeles , Los Angeles, CA , USA.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Chang</LastName><ForeName>Eric</ForeName><Initials>E</Initials><AffiliationInfo><Affiliation>Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Arizona State University , Tempe, AZ , USA.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Tanner</LastName><ForeName>Justin</ForeName><Initials>J</Initials><AffiliationInfo><Affiliation>SensoriMotor Research Group, School of Biological and Health Systems Engineering, Arizona State University , Tempe, AZ , USA.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Helms Tillery</LastName><ForeName>Stephen I</ForeName><Initials>SI</Initials><AffiliationInfo><Affiliation>SensoriMotor Research Group, School of Biological and Health Systems Engineering, Arizona State University , Tempe, AZ , USA.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Santos</LastName><ForeName>Veronica J</ForeName><Initials>VJ</Initials><AffiliationInfo><Affiliation>Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Arizona State University , Tempe, AZ , USA ; Biomechatronics Laboratory, Department of Mechanical and Aerospace Engineering, University of California Los Angeles , Los Angeles, CA , USA.</Affiliation></AffiliationInfo></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2015</Year><Month>02</Month><Day>19</Day></ArticleDate></Article><MedlineJournalInfo><Country>Switzerland</Country><MedlineTA>Front Hum Neurosci</MedlineTA><NlmUniqueID>101477954</NlmUniqueID><ISSNLinking>1662-5161</ISSNLinking></MedlineJournalInfo><OtherID Source="NLM">PMC4333840</OtherID><KeywordList Owner="NOTNLM"><Keyword MajorTopicYN="N">amputee</Keyword><Keyword MajorTopicYN="N">body schema</Keyword><Keyword MajorTopicYN="N">embodiment</Keyword><Keyword MajorTopicYN="N">hand</Keyword><Keyword MajorTopicYN="N">neurorehabilitation</Keyword><Keyword MajorTopicYN="N">phantom limb pain</Keyword><Keyword MajorTopicYN="N">robotic</Keyword><Keyword MajorTopicYN="N">upper limb</Keyword></KeywordList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="ecollection"><Year>2015</Year><Month></Month><Day></Day></PubMedPubDate><PubMedPubDate PubStatus="received"><Year>2014</Year><Month>8</Month><Day>26</Day></PubMedPubDate><PubMedPubDate PubStatus="accepted"><Year>2015</Year><Month>1</Month><Day>12</Day></PubMedPubDate><PubMedPubDate PubStatus="epublish"><Year>2015</Year><Month>2</Month><Day>19</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2015</Year><Month>3</Month><Day>7</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2015</Year><Month>3</Month><Day>10</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2015</Year><Month>3</Month><Day>10</Day><Hour>6</Hour><Minute>1</Minute></PubMedPubDate></History><PublicationStatus>epublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.3389/fnhum.2015.00026</ArticleId><ArticleId IdType="pubmed">25745391</ArticleId><ArticleId IdType="pmc">PMC4333840</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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