Hybrid Bionic Systems for the Replacement of Hand Function

In recent years, thanks to the advancement of robotics and mechatronics, new and more effective devices for the restoration and replacement of sensory-motor function in disabled people have been developed. In all these systems, user acceptability is strictly connected to several issues such as the residual abilities of the subject, the mechatronic characteristics of the robot, and also the interface chosen to link them. It is possible to figure out different "human-interface-device" combinations [also defined as "hybrid bionic systems" (HBSs)] characterized by different properties in terms of level of hybridness, connection, and augmentation. In particular, in HBSs the interface has to be customized according to the characteristics of the robotic artefact to be controlled and to the desires and needs of the final users. In this paper, our attention has been focused on the problem of the replacement of hand function after amputation. Three HBSs characterized by different levels of complexity, dexterity, and sensorization are presented in order to show the possibility of developing acceptable and effective systems by choosing different levels of connection and hybridness (i.e., different interfaces) for different devices and applications. The following case studies are presented: 1) the use of invasive interfaces to the peripheral nervous system to control a dexterous and highly sensorized hand prosthesis; 2) the use of electromyographic signals recorded using surface electrodes to control a compliant adaptive prosthesis; and 3) the use of a foot interface to control a two-degrees-of-freedom prosthesis. The preliminary results achieved so far seem to confirm the idea that the correct choice of the proper interface while developing an HBS can increase effectiveness and usability

[1]  R. Johansson,et al.  Spatial properties of the population of mechanoreceptive units in the glabrous skin of the human hand , 1980, Brain Research.

[2]  Shugen Ma,et al.  Coupled tendon-driven multijoint manipulator , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[3]  T. G. McNaughton,et al.  Metallized polymer fibers as leadwires and intrafascicular microelectrodes , 1996, Journal of Neuroscience Methods.

[4]  P. Cheney,et al.  Effects on muscle activity from microstimuli applied to somatosensory and motor cortex during voluntary movement in the monkey. , 1997, Journal of neurophysiology.

[5]  B. Rockstroh,et al.  Input-increase and input-decrease types of cortical reorganization after upper extremity amputation in humans , 1997, Experimental Brain Research.

[6]  Clément Gosselin,et al.  Simulation and design of underactuated mechanical hands , 1998 .

[7]  D. Kipke,et al.  Development of the thin-film longitudinal intra-fascicular electrode , 2000 .

[8]  Silvestro Micera,et al.  Neuro-fuzzy extraction of angular information from muscle afferents for ankle control during standing in paraplegic subjects: an animal model , 2001, IEEE Transactions on Biomedical Engineering.

[9]  Paolo Dario,et al.  Design and development of an underactuated prosthetic hand , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[10]  Mark R. Cutkosky,et al.  Sensing Local Geometry for Dexterous Manipulation , 2002, ISER.

[11]  Silvestro Micera,et al.  On the intersubject generalization ability in extracting kinematic information from afferent nervous signals , 2003, IEEE Transactions on Biomedical Engineering.

[12]  K. Horch,et al.  Acute peripheral nerve recording Characteristics of polymer-based longitudinal intrafascicular electrodes , 2004, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[13]  J. Mortimer,et al.  Selective and independent activation of four motor fascicles using a four contact nerve-cuff electrode , 2004, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[14]  R. Normann,et al.  Interleaved, multisite electrical stimulation of cat sciatic nerve produces fatigue-resistant, ripple-free motor responses , 2004, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[15]  K. Horch,et al.  Residual function in peripheral nerve stumps of amputees: implications for neural control of artificial limbs. , 2004, The Journal of hand surgery.

[16]  Paolo Dario,et al.  The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping , 2004, Auton. Robots.

[17]  N. Lago,et al.  Long term assessment of axonal regeneration through polyimide regenerative electrodes to interface the peripheral nerve. , 2005, Biomaterials.

[18]  K. Horch,et al.  Effects of short-term training on sensory and motor function in severed nerves of long-term human amputees. , 2005, Journal of neurophysiology.

[19]  Silvestro Micera,et al.  A critical review of interfaces with the peripheral nervous system for the control of neuroprostheses and hybrid bionic systems , 2005, Journal of the peripheral nervous system : JPNS.

[20]  Maria Chiara Carrozza,et al.  Bio-inspired approach for the design and characterization of a tactile sensory system for a cybernetic prosthetic hand , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[21]  S. Micera,et al.  Characterization of tfLIFE Neural Response for the Control of a Cybernetic Hand , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..