Design of multi-pad electrotactile system envisioned as a feedback channel for supernumerary robotic limbs

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dc.contributor.authorBoljanić, Tanja
dc.contributor.authorIsaković, Milica
dc.contributor.authorMalešević, Jovana
dc.contributor.authorFormica, Domenico
dc.contributor.authorDi Pino, Giovanni
dc.contributor.authorKeller, Thierry
dc.contributor.authorŠtrbac, Matija
dc.contributor.institutionSG
dc.contributor.institutionTecnalia Research & Innovation
dc.date.issued2022-10
dc.descriptionPublisher Copyright: © 2022 International Center for Artificial Organ and Transplantation (ICAOT) and Wiley Periodicals LLC.
dc.description.abstractBackground: Providing real-time haptic feedback is an important, but still not sufficiently explored aspect of the use of supernumerary robotic limbs (SRLs). We present a multi-pad electrode for conveying multi-modal proprioceptive and sensory information from SRL to the user's thigh and propose a method for stimuli calibration. Methods: Within two pilot tests, we investigated return electrode configuration and active electrode discrimination in three healthy subjects to select the appropriate electrode pad topology. Based on the obtained results and anthropometric data from the literature, the electrode was designed to have three branches of 10 pads and two additional pads that can be displaced over/under the electrode branches. The electrode was designed to be connected to the stimulator that allows full multiplexing so that specific branches can serve as a common return electrode. To define the procedure for application of this system, the sensation, localization, and discomfort thresholds applicable for the novel electrode were determined and analyzed in 10 subjects. Results: The results showed no overlaps between the three thresholds for individual pads, with significantly different average values, suggesting that the selected electrode positioning and design provide a good active range of useful current amplitude. The results of the subsequent analysis suggested that the stimuli intensity level of 200% of the sensation threshold is the most probable value of the localization threshold. Furthermore, this level ensures a low chance (i.e., 0.7%) of reaching the discomfort. Conclusions: We believe that envisioned electrotactile system could serve as a high bandwidth feedback channel that can be easily set up to provide proprioceptive and sensory feedback from supernumerary limbs.en
dc.description.sponsorshipThe work in this study was performed within the NIMA project, which has received funding from European Union's Horizon 2020 framework program for research and innovation H2020-FETOPEN-2018-2019-2020-01 under grant agreement no. 899626. The work in this study was performed within the NIMA project, which has received funding from European Union's Horizon 2020 framework program for research and innovation H2020‐FETOPEN‐2018‐2019‐2020‐01 under grant agreement no. 899626.
dc.description.statusPeer reviewed
dc.format.extent10
dc.identifier.citationBoljanić , T , Isaković , M , Malešević , J , Formica , D , Di Pino , G , Keller , T & Štrbac , M 2022 , ' Design of multi-pad electrotactile system envisioned as a feedback channel for supernumerary robotic limbs ' , Artificial Organs , vol. 46 , no. 10 , pp. 2034-2043 . https://doi.org/10.1111/aor.14339
dc.identifier.doi10.1111/aor.14339
dc.identifier.issn0160-564X
dc.identifier.otherresearchoutputwizard: 11556/1372
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85133032402&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofArtificial Organs
dc.relation.projectIDEuropean Union's Horizon 2020 framework program for research and innovation H2020-FETOPEN-2018-2019-2020-01
dc.relation.projectIDEuropean Union's Horizon 2020 framework program for research and innovation H2020‐FETOPEN‐2018‐2019‐2020‐01
dc.relation.projectIDNIMA
dc.relation.projectIDHorizon 2020 Framework Programme, H2020, 899626
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordselectrotactile stimulation
dc.subject.keywordsmulti-pad electrode
dc.subject.keywordssupernumerary robotic limb
dc.subject.keywordstactile feedback
dc.subject.keywordsMulti-pad electrodes
dc.subject.keywordsElectrotactile stimulation
dc.subject.keywordsMulti-pad electrodes
dc.subject.keywordsSupernumerary robotic limb
dc.subject.keywordsTactile feedback
dc.subject.keywordsBioengineering
dc.subject.keywordsMedicine (miscellaneous)
dc.subject.keywordsBiomaterials
dc.subject.keywordsBiomedical Engineering
dc.subject.keywordsProject ID
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/899626/EU/Non-invasive Interface for Movement Augmentation/NIMA
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/899626/EU/Non-invasive Interface for Movement Augmentation/NIMA
dc.subject.keywordsFunding Info
dc.subject.keywordsThe work in this study was performed within the NIMA project, which has received funding from European Union's Horizon 2020 framework program for research and innovation H2020‐FETOPEN‐2018‐2019‐2020‐01 under grant agreement no. 899626.
dc.subject.keywordsThe work in this study was performed within the NIMA project, which has received funding from European Union's Horizon 2020 framework program for research and innovation H2020‐FETOPEN‐2018‐2019‐2020‐01 under grant agreement no. 899626.
dc.titleDesign of multi-pad electrotactile system envisioned as a feedback channel for supernumerary robotic limbsen
dc.typejournal article
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