A robot hand testbed designed for enhancing embodiment and functional neurorehabilitation of body schema in subjects with upper limb impairment or loss

Frontiers in Human Neuroscience
Randall B HellmanVeronica J Santos

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 i...Continue Reading

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Dec 29, 2015·Physics of Life Reviews·Mariella Pazzaglia, Marco Molinari
Oct 3, 2018·PM & R : the Journal of Injury, Function, and Rehabilitation·Franco MolteniEleonora Guanziroli
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Apr 26, 2018·Frontiers in Neurorobotics·Annette HagengruberJörn Vogel
Jan 28, 2021·Frontiers in Robotics and AI·Alexander ToetJan B F van Erp

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Methods Mentioned

BETA
amputation

Software Mentioned

Linux
EPOS
BairClaw
Xenomai
Ubuntu

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