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MUNDUS project: MUltimodal neuroprosthesis for daily upper limb support.

Pedrocchi A, Ferrante S, Ambrosini E, Gandolla M, Casellato C, Schauer T, Klauer C, Pascual J, Vidaurre C, Gföhler M, Reichenfelser W, Karner J, Micera S, Crema A, Molteni F, Rossini M, Palumbo G, Guanziroli E, Jedlitschka A, Hack M, Bulgheroni M, d'Amico E, Schenk P, Zwicker S, Duschau-Wicke A, Miseikis J, Graber L, Ferrigno G - J Neuroeng Rehabil (2013)

Bottom Line: The functionality of all modules has been successfully demonstrated.User's intention was detected with a 100% success.The MUNDUS platform provides functional assistance to daily life activities; the modules integration depends on the user's need, the functionality of the system have been demonstrated for all the possible configurations, and preliminary assessment of usability and acceptance is promising.

View Article: PubMed Central - HTML - PubMed

ABSTRACT

Background: MUNDUS is an assistive framework for recovering direct interaction capability of severely motor impaired people based on arm reaching and hand functions. It aims at achieving personalization, modularity and maximization of the user's direct involvement in assistive systems. To this, MUNDUS exploits any residual control of the end-user and can be adapted to the level of severity or to the progression of the disease allowing the user to voluntarily interact with the environment. MUNDUS target pathologies are high-level spinal cord injury (SCI) and neurodegenerative and genetic neuromuscular diseases, such as amyotrophic lateral sclerosis, Friedreich ataxia, and multiple sclerosis (MS). The system can be alternatively driven by residual voluntary muscular activation, head/eye motion, and brain signals. MUNDUS modularly combines an antigravity lightweight and non-cumbersome exoskeleton, closed-loop controlled Neuromuscular Electrical Stimulation for arm and hand motion, and potentially a motorized hand orthosis, for grasping interactive objects.

Methods: The definition of the requirements and of the interaction tasks were designed by a focus group with experts and a questionnaire with 36 potential end-users.

Results: The functionality of all modules has been successfully demonstrated. User's intention was detected with a 100% success. Averaging all subjects and tasks, the minimum evaluation score obtained was 1.13 ± 0.99 for the release of the handle during the drinking task, whilst all the other sub-actions achieved a mean value above 1.6. All users, but one, subjectively perceived the usefulness of the assistance and could easily control the system. Donning time ranged from 6 to 65 minutes, scaled on the configuration complexity.

Conclusions: The MUNDUS platform provides functional assistance to daily life activities; the modules integration depends on the user's need, the functionality of the system have been demonstrated for all the possible configurations, and preliminary assessment of usability and acceptance is promising.

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Related in: MedlinePlus

Tests on subject FS001. Subject FS001 movement phases during the drinking task (Additional file 2). From left to right: initial position (a), reaching of the cup (b), grasping of the cup (c), cup to mouth (d), releasing of the cup (e) and return to initial position (f).
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Figure 5: Tests on subject FS001. Subject FS001 movement phases during the drinking task (Additional file 2). From left to right: initial position (a), reaching of the cup (b), grasping of the cup (c), cup to mouth (d), releasing of the cup (e) and return to initial position (f).

Mentions: This subject is a quadriplegic male of 44 years old with an incomplete SCI (C3-C4 level) since 2010. This subject is classified as an ASIA Impairment Scale C with right and left motor/sensitive level C4. According to the subject’s characteristics reported in Table 1, the scenario selected was Scenario 1. To reduce the complexity of the system for the first tests, no intention detection module was used; the brakes of the exo were automatically activated once the subject reached the target position and manually de-activated by the operator when required by the subject. The subject performed two experimental sessions. In the first session he performed a drinking task exploiting only the weight compensation provided by the exo (see Figure 5 referring to-FS001_test 1 in Table 3 and Additional file 2). The subject was helped by the operator to open the hand.


MUNDUS project: MUltimodal neuroprosthesis for daily upper limb support.

Pedrocchi A, Ferrante S, Ambrosini E, Gandolla M, Casellato C, Schauer T, Klauer C, Pascual J, Vidaurre C, Gföhler M, Reichenfelser W, Karner J, Micera S, Crema A, Molteni F, Rossini M, Palumbo G, Guanziroli E, Jedlitschka A, Hack M, Bulgheroni M, d'Amico E, Schenk P, Zwicker S, Duschau-Wicke A, Miseikis J, Graber L, Ferrigno G - J Neuroeng Rehabil (2013)

Tests on subject FS001. Subject FS001 movement phases during the drinking task (Additional file 2). From left to right: initial position (a), reaching of the cup (b), grasping of the cup (c), cup to mouth (d), releasing of the cup (e) and return to initial position (f).
© Copyright Policy - open-access
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC3733825&req=5

Figure 5: Tests on subject FS001. Subject FS001 movement phases during the drinking task (Additional file 2). From left to right: initial position (a), reaching of the cup (b), grasping of the cup (c), cup to mouth (d), releasing of the cup (e) and return to initial position (f).
Mentions: This subject is a quadriplegic male of 44 years old with an incomplete SCI (C3-C4 level) since 2010. This subject is classified as an ASIA Impairment Scale C with right and left motor/sensitive level C4. According to the subject’s characteristics reported in Table 1, the scenario selected was Scenario 1. To reduce the complexity of the system for the first tests, no intention detection module was used; the brakes of the exo were automatically activated once the subject reached the target position and manually de-activated by the operator when required by the subject. The subject performed two experimental sessions. In the first session he performed a drinking task exploiting only the weight compensation provided by the exo (see Figure 5 referring to-FS001_test 1 in Table 3 and Additional file 2). The subject was helped by the operator to open the hand.

Bottom Line: The functionality of all modules has been successfully demonstrated.User's intention was detected with a 100% success.The MUNDUS platform provides functional assistance to daily life activities; the modules integration depends on the user's need, the functionality of the system have been demonstrated for all the possible configurations, and preliminary assessment of usability and acceptance is promising.

View Article: PubMed Central - HTML - PubMed

ABSTRACT

Background: MUNDUS is an assistive framework for recovering direct interaction capability of severely motor impaired people based on arm reaching and hand functions. It aims at achieving personalization, modularity and maximization of the user's direct involvement in assistive systems. To this, MUNDUS exploits any residual control of the end-user and can be adapted to the level of severity or to the progression of the disease allowing the user to voluntarily interact with the environment. MUNDUS target pathologies are high-level spinal cord injury (SCI) and neurodegenerative and genetic neuromuscular diseases, such as amyotrophic lateral sclerosis, Friedreich ataxia, and multiple sclerosis (MS). The system can be alternatively driven by residual voluntary muscular activation, head/eye motion, and brain signals. MUNDUS modularly combines an antigravity lightweight and non-cumbersome exoskeleton, closed-loop controlled Neuromuscular Electrical Stimulation for arm and hand motion, and potentially a motorized hand orthosis, for grasping interactive objects.

Methods: The definition of the requirements and of the interaction tasks were designed by a focus group with experts and a questionnaire with 36 potential end-users.

Results: The functionality of all modules has been successfully demonstrated. User's intention was detected with a 100% success. Averaging all subjects and tasks, the minimum evaluation score obtained was 1.13 ± 0.99 for the release of the handle during the drinking task, whilst all the other sub-actions achieved a mean value above 1.6. All users, but one, subjectively perceived the usefulness of the assistance and could easily control the system. Donning time ranged from 6 to 65 minutes, scaled on the configuration complexity.

Conclusions: The MUNDUS platform provides functional assistance to daily life activities; the modules integration depends on the user's need, the functionality of the system have been demonstrated for all the possible configurations, and preliminary assessment of usability and acceptance is promising.

Show MeSH
Related in: MedlinePlus