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Description
Humans have an inherent capability of performing highly dexterous and skillful tasks with their arms, involving maintaining posture, movement and interacting with the environment. The latter requires for them to control the dynamic characteristics of the upper limb musculoskeletal system. Inertia, damping and stiffness, a measure of mechanical impedance, gives a strong representation of these characteristics. Many previous studies have shown that the arm posture is a dominant factor for determining the end point impedance in a horizontal plane (transverse plane). The objective of this thesis is to characterize end point impedance of the human arm in the three dimensional (3D) space. Moreover, it investigates and models the control of the arm impedance due to increasing levels of muscle co-contraction. The characterization is done through experimental trials where human subjects maintained arm posture, while perturbed by a robot arm. Moreover, the subjects were asked to control the level of their arm muscles' co-contraction, using visual feedback of their muscles' activation, in order to investigate the effect of the muscle co-contraction on the arm impedance. The results of this study showed a very interesting, anisotropic increase of the arm stiffness due to muscle co-contraction. This can lead to very useful conclusions about the arm biomechanics as well as many implications for human motor control and more specifically the control of arm impedance through muscle co-contraction. The study finds implications for the EMG-based control of robots that physically interact with humans.
ContributorsPatel, Harshil Naresh (Author) / Artemiadis, Panagiotis (Thesis advisor) / Berman, Spring (Committee member) / Helms Tillery, Stephen (Committee member) / Arizona State University (Publisher)
Created2013
Description
This research is focused on two separate but related topics. The first uses an electroencephalographic (EEG) brain-computer interface (BCI) to explore the phenomenon of motor learning transfer. The second takes a closer look at the EEG-BCI itself and tests an alternate way of mapping EEG signals into machine commands. We test whether motor learning transfer is more related to use of shared neural structures between imagery and motor execution or to more generalized cognitive factors. Using an EEG-BCI, we train one group of participants to control the movements of a cursor using embodied motor imagery. A second group is trained to control the cursor using abstract motor imagery. A third control group practices moving the cursor using an arm and finger on a touch screen. We hypothesized that if motor learning transfer is related to the use of shared neural structures then the embodied motor imagery group would show more learning transfer than the abstract imaging group. If, on the other hand, motor learning transfer results from more general cognitive processes, then the abstract motor imagery group should also demonstrate motor learning transfer to the manual performance of the same task. Our findings support that motor learning transfer is due to the use of shared neural structures between imaging and motor execution of a task. The abstract group showed no motor learning transfer despite being better at EEG-BCI control than the embodied group. The fact that more participants were able to learn EEG-BCI control using abstract imagery suggests that abstract imagery may be more suitable for EEG-BCIs for some disabilities, while embodied imagery may be more suitable for others. In Part 2, EEG data collected in the above experiment was used to train an artificial neural network (ANN) to map EEG signals to machine commands. We found that our open-source ANN using spectrograms generated from SFFTs is fundamentally different and in some ways superior to Emotiv's proprietary method. Our use of novel combinations of existing technologies along with abstract and embodied imagery facilitates adaptive customization of EEG-BCI control to meet needs of individual users.
Contributorsda Silva, Flavio J. K (Author) / Mcbeath, Michael K (Thesis advisor) / Helms Tillery, Stephen (Committee member) / Presson, Clark (Committee member) / Sugar, Thomas (Committee member) / Arizona State University (Publisher)
Created2013
Description
The goal of this project was to use the sense of touch to investigate tactile cues during multidigit rotational manipulations of objects. A robotic arm and hand equipped with three multimodal tactile sensors were used to gather data about skin deformation during rotation of a haptic knob. Three different rotation speeds and two levels of rotation resistance were used to investigate tactile cues during knob rotation. In the future, this multidigit task can be generalized to similar rotational tasks, such as opening a bottle or turning a doorknob.
ContributorsChalla, Santhi Priya (Author) / Santos, Veronica (Thesis director) / Helms Tillery, Stephen (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor) / School of Earth and Space Exploration (Contributor)
Created2014-05
Description
Robotic rehabilitation for upper limb post-stroke recovery is a developing technology. However, there are major issues in the implementation of this type of rehabilitation, issues which decrease efficacy. Two of the major solutions currently being explored to the upper limb post-stroke rehabilitation problem are the use of socially assistive rehabilitative robots, robots which directly interact with patients, and the use of exoskeleton-based systems of rehabilitation. While there is great promise in both of these techniques, they currently lack sufficient efficacy to objectively justify their costs. The overall efficacy to both of these techniques is about the same as conventional therapy, yet each has higher overhead costs that conventional therapy does. However there are associated long-term cost savings in each case, meaning that the actual current viability of either of these techniques is somewhat nebulous. In both cases, the problems which decrease technique viability are largely related to joint action, the interaction between robot and human in completing specific tasks, and issues in robot adaptability that make joint action difficult. As such, the largest part of current research into rehabilitative robotics aims to make robots behave in more "human-like" manners or to bypass the joint action problem entirely.
ContributorsRamakrishna, Vijay Kambhampati (Author) / Helms Tillery, Stephen (Thesis director) / Buneo, Christopher (Committee member) / Barrett, The Honors College (Contributor) / Economics Program in CLAS (Contributor) / W. P. Carey School of Business (Contributor) / School of Life Sciences (Contributor)
Created2015-05
Description
Sustained attention, the ability to concentrate on a stimulus or task over a prolonged period, is essential for goal pursuit and fulfillment. Sustained attention failures can have catastrophic consequences, underscoring the importance of understanding the mechanisms that underlie variability in sustained attention, and developing interventions targeting these mechanisms to reduce such failures. A growing body of research implicates the brainstem locus coeruleus (LC) as a core modulator of attention and arousal. Activation of LC afferents, such as the trigeminal nerve, may indirectly modulate the LC. The altered LC activity could theoretically be tracked via well-established psychological and physiological indicators of attention and arousal, such as performance, self-reports of attention state, and pupillary activity during attention tasks. The present study tests the hypothesis that continuous transcranial direct current stimulation (tDCS) over the trigeminal nerve of the face improves attentional state, attentional performance, and pupillary reactivity via indirect modulation of the LC. Participants received 2 mA of anodal or cathodal stimulation or sham stimulation over the dorsolateral prefrontal cortex while completing the Psychomotor Vigilance Task. Participants occasionally reported on their attentional state. Pupillary activity was recorded continuously throughout the task. To compare patterns of attention task performance, frequency of task-unrelated thoughts, and pupillary activity across time by stimulation condition, linear mixed-effects models were implemented.
The results replicate the complex interplay between attentional state, attentional performance, and pupillary activity reported in the literature. Specifically, a ubiquitous pattern of performance deterioration was observed, which coincided with an increase in task-unrelated thoughts and reduced pretrial and task-evoked pupil responses. However, tDCS over the face did not produce significant effects compared to the sham condition in attention task performance, proportion of task-unrelated thoughts, and pupillary activity that would indicate LC modulation. This study addresses the causal relations between LC activity, attentional state, attentional performance, and pupillary reactivity that are still poorly understood in human subjects. The findings reported here support the dominant theory of the role of the LC in attentional processes but fail to support hypotheses suggesting that tDCS of the trigeminal nerve influences activity of the LC and indicators of LC activity.
ContributorsTorres, Alexis Stephanie (Author) / Brewer, Gene A (Thesis advisor) / Robison, Matthew K (Committee member) / McClure, Samuel M (Committee member) / Helms Tillery, Stephen (Committee member) / Arizona State University (Publisher)
Created2022
Description
This study consisted of several related projects on dynamic spatial hearing by both human and robot listeners. The first experiment investigated the maximum number of sound sources that human listeners could localize at the same time. Speech stimuli were presented simultaneously from different loudspeakers at multiple time intervals. The maximum of perceived sound sources was close to four. The second experiment asked whether the amplitude modulation of multiple static sound sources could lead to the perception of auditory motion. On the horizontal and vertical planes, four independent noise sound sources with 60° spacing were amplitude modulated with consecutively larger phase delay. At lower modulation rates, motion could be perceived by human listeners in both cases. The third experiment asked whether several sources at static positions could serve as "acoustic landmarks" to improve the localization of other sources. Four continuous speech sound sources were placed on the horizontal plane with 90° spacing and served as the landmarks. The task was to localize a noise that was played for only three seconds when the listener was passively rotated in a chair in the middle of the loudspeaker array. The human listeners were better able to localize the sound sources with landmarks than without. The other experiments were with the aid of an acoustic manikin in an attempt to fuse binaural recording and motion data to localize sounds sources. A dummy head with recording devices was mounted on top of a rotating chair and motion data was collected. The fourth experiment showed that an Extended Kalman Filter could be used to localize sound sources in a recursive manner. The fifth experiment demonstrated the use of a fitting method for separating multiple sounds sources.
ContributorsZhong, Xuan (Author) / Yost, William (Thesis advisor) / Zhou, Yi (Committee member) / Dorman, Michael (Committee member) / Helms Tillery, Stephen (Committee member) / Arizona State University (Publisher)
Created2015
Description
Electrical nerve stimulation is a promising drug-free technology that could treat a variety of ailments and disorders. Methods like Vagus Nerve Stimulation have been used for decades to treat disorders like epilepsy, and research with non-invasive vagus nerve stimulation has shown similar effects as its invasive counterpart. Non-invasive nerve stimulation methods like vagus nerve stimulation could help millions of people treat and manage various disorders.
This study observed the effects of three different non-invasive nerve stimulation paradigms in human participants. The first study analyzed the safety and efficacy of transcutaneous auricular vagal nerve stimulation in healthy humans using a bilateral stimulation protocol with uniquely designed dry-hydrogel electrodes. Results demonstrate bilateral auricular vagal nerve stimulation has significant effects on specific parameters of autonomic activity and is safe and well tolerated. The second study analyzed the effects of non-invasive electrical stimulation of a region on the side of the neck that contains the Great Auricular Nerve and the Auricular Branch of the Vagus Nerve called the tympanomastoid fissure on golf hitting performance in healthy golfers. Results did not show significant effects on hitting performance or physiological activity, but the nerve stimulation had significant effects on reducing state-anxiety and improving the quality of feel of each shot. The third study analyzed the effects of non-invasive nerve stimulation of cervical nerves on the back of the neck on putting performance of yips-affected golfers. Results demonstrated that cervical nerve stimulation had significant effects on improving putting performance but did not have significant effects on physiological activity. Data from these studies show there are potential applications for non-invasive electrical nerve stimulation for healthy and athletic populations. Future research should also examine the effects of these stimulation methods in clinical populations.
This study observed the effects of three different non-invasive nerve stimulation paradigms in human participants. The first study analyzed the safety and efficacy of transcutaneous auricular vagal nerve stimulation in healthy humans using a bilateral stimulation protocol with uniquely designed dry-hydrogel electrodes. Results demonstrate bilateral auricular vagal nerve stimulation has significant effects on specific parameters of autonomic activity and is safe and well tolerated. The second study analyzed the effects of non-invasive electrical stimulation of a region on the side of the neck that contains the Great Auricular Nerve and the Auricular Branch of the Vagus Nerve called the tympanomastoid fissure on golf hitting performance in healthy golfers. Results did not show significant effects on hitting performance or physiological activity, but the nerve stimulation had significant effects on reducing state-anxiety and improving the quality of feel of each shot. The third study analyzed the effects of non-invasive nerve stimulation of cervical nerves on the back of the neck on putting performance of yips-affected golfers. Results demonstrated that cervical nerve stimulation had significant effects on improving putting performance but did not have significant effects on physiological activity. Data from these studies show there are potential applications for non-invasive electrical nerve stimulation for healthy and athletic populations. Future research should also examine the effects of these stimulation methods in clinical populations.
ContributorsHool, Nicholas (Author) / Tyler, William J (Thesis advisor) / Crews, Debbie (Committee member) / Muthuswamy, Jitendran (Committee member) / Helms Tillery, Stephen (Committee member) / Sebold, Brent (Committee member) / Arizona State University (Publisher)
Created2020
Description
Transcranial focused ultrasound (tFUS) is a unique neurostimulation modality with potential to develop into a highly sophisticated and effective tool. Unlike any other noninvasive neurostimulation technique, tFUS has a high spatial resolution (on the order of millimeters) and can penetrate across the skull, deep into the brain. Sub-thermal tFUS has been shown to induce changes in EEG and fMRI, as well as perception and mood. This study investigates the possibility of using tFUS to modulate brain networks involved in attention and cognitive control.Three different brain areas linked to saliency, cognitive control, and emotion within the cingulo-opercular network were stimulated with tFUS while subjects performed behavioral paradigms. The first study targeted the dorsal anterior cingulate cortex (dACC), which is associated with performance on cognitive attention tasks, conflict, error, and, emotion. Subjects performed a variant of the Erikson Flanker task in which emotional faces (fear, neutral or scrambled) were displayed in the background as distractors. tFUS significantly reduced the reaction time (RT) delay induced by faces; there were significant differences between tFUS and Sham groups in event related potentials (ERP), event related spectral perturbation (ERSP), conflict and error processing, and heart rate variability (HRV).
The second study used the same behavioral paradigm, but targeted tFUS to the right anterior insula/frontal operculum (aIns/fO). The aIns/fO is implicated in saliency, cognitive control, interoceptive awareness, autonomic function, and emotion. tFUS was found to significantly alter ERP, ERSP, conflict and error processing, and HRV responses.
The third study targeted tFUS to the right inferior frontal gyrus (rIFG), employing the Stop Signal task to study inhibition. tFUS affected ERPs and improved stopping speed. Using network modeling, causal evidence is presented for rIFG influence on subcortical nodes in stopping.
This work provides preliminarily evidence that tFUS can be used to modulate broader network function through a single node, affecting neurophysiological processing, physiologic responses, and behavioral performance. Additionally it can be used as a tool to elucidate network function. These studies suggest tFUS has the potential to affect cognitive function as a clinical tool, and perhaps even enhance wellbeing and expand conscious awareness.
The second study used the same behavioral paradigm, but targeted tFUS to the right anterior insula/frontal operculum (aIns/fO). The aIns/fO is implicated in saliency, cognitive control, interoceptive awareness, autonomic function, and emotion. tFUS was found to significantly alter ERP, ERSP, conflict and error processing, and HRV responses.
The third study targeted tFUS to the right inferior frontal gyrus (rIFG), employing the Stop Signal task to study inhibition. tFUS affected ERPs and improved stopping speed. Using network modeling, causal evidence is presented for rIFG influence on subcortical nodes in stopping.
This work provides preliminarily evidence that tFUS can be used to modulate broader network function through a single node, affecting neurophysiological processing, physiologic responses, and behavioral performance. Additionally it can be used as a tool to elucidate network function. These studies suggest tFUS has the potential to affect cognitive function as a clinical tool, and perhaps even enhance wellbeing and expand conscious awareness.
ContributorsFini, Maria Elizabeth (Author) / Tyler, William J (Thesis advisor) / Greger, Bradley (Committee member) / Santello, Marco (Committee member) / Kleim, Jeffrey (Committee member) / Helms Tillery, Stephen (Committee member) / Arizona State University (Publisher)
Created2020