Eugene C. Goldfield

Design and control of a bio-inspired soft wearable robotic device for ankle-foot rehabilitation.

We describe the design and control of a wearable robotic device powered by pneumatic artificial muscle actuators for use in ankle-foot rehabilitation. The design is inspired by the biological musculoskeletal system of the human foot and lower leg, mimicking the morphology and the functionality of the biological muscle-tendon-ligament structure. A key feature of the device is its soft structure that provides active assistance without restricting natural degrees of freedom at the ankle joint. Four pneumatic artificial muscles assist dorsiflexion and plantarflexion as well as inversion and eversion. The prototype is also equipped with various embedded sensors for gait pattern analysis. For the subject tested, the prototype is capable of generating an ankle range of motion of 27° (14° dorsiflexion and 13° plantarflexion). The controllability of the system is experimentally demonstrated using a linear time-invariant (LTI) controller. The controller is found using an identified LTI model of the system, resulting from the interaction of the soft orthotic device with a human leg, and model-based classical control design techniques. The suitability of the proposed control strategy is demonstrated with several angle-reference following experiments.

Bio-inspired active soft orthotic device for ankle foot pathologies

We describe the design of an active soft ankle-foot orthotic device powered by pneumatic artificial muscles for treating gait pathologies associated with neuromuscular disorders. The design is inspired by the biological musculoskeletal system of a human foot and a lower leg, and mimics the muscle-tendon-ligament structure. A key feature of the device is that it is fabricated with flexible and soft materials that provide assistance without restricting degrees of freedom at the ankle joint. Three pneumatic artificial muscles assist dorsiflexion as well as inversion and eversion. The prototype is also equipped with various embedded sensors for gait training and gait pattern analysis. The prototype is capable of 12° dorsiflexion from a resting position of an ankle joint and a 20° dorsiflexion from plantarflexion. Results of early feedback control experiments show controllability of ankle joint angles. Ultimately, we envision a system that not only can provide physical support to improve mobility but also can increase safety and stability during walking, while enhancing muscle usage and encouraging rehabilitation.

Applicability of Shape Memory Alloy Wire for an Active, Soft Orthotic

Current treatments for gait pathologies associated with neuromuscular disorders may employ a passive, rigid brace. While these provide certain benefits, they can also cause muscle atrophy. In this study, we examined NiTi shape memory alloy (SMA) wires that were annealed into springs to develop an active, soft orthotic (ASO) for the knee. Actively controlled SMA springs may provide variable assistances depending on factors such as when, during the gait cycle, the springs are activated; ongoing muscle activity level; and needs of the wearer. Unlike a passive brace, an active orthotic may provide individualized control, assisting the muscles so that they may be used more appropriately, and possibly leading to a re-education of the neuro-motor system and eventual independence from the orthotic system. A prototype was tested on a suspended, robotic leg to simulate the swing phase of a typical gait. The total deflection generated by the orthotic depended on the knee angle and the total number of actuators triggered, with a max deflection of 35°. While SMA wires have a high energy density, they require a significant amount of power. Furthermore, the loaded SMA spring response times were much longer than the natural frequency of an average gait for the power conditions tested. While the SMA wires are not appropriate for correction of gait pathologies as currently implemented, the ability to have a soft, actuated material could be appropriate for slower timescale applications.

Active modular elastomer sleeve for soft wearable assistance robots

A proposed adaptive soft orthotic device performs motion sensing and production of assistive forces with a modular, pneumatically-driven, hyper-elastic composite. Wrapping the material around a joint will allow simultaneous motion sensing and active force response through shape and rigidity control. This monolithic elastomer sheet contains a series of miniaturized pneumatically-powered McKibben-type actuators that exert tension and enable adaptive rigidity control. The elastomer is embedded with conductive liquid channels that detect strain and bending deformations induced by the pneumatic actuators. In addition, the proposed system is modular and can be configured for a diverse range of motor tasks, joints, and human subjects. This modular functionality is accomplished with a decentralized network of self-configuring nodes that manage the collection of sensory data and the delivery of actuator feedback commands. This paper mainly describes the design of the soft orthotic device as well as actuator and sensor components. The characterization of the individual sensors, actuators, and the integrated device is also presented.

The ontogeny of infant bimanual reaching during the first year

Handedness and pattern of coordination during bimanual reaching were assessed separately for six groups of infants, 7 to 12 months old. Infants reached bimanually for a transparent toy-filled box. On some presentations of the box a low barrier was placed in the path of either the right or left hand, while on other presentations there was no barrier. The youngest and two oldest groups of infants were more likely thon the other age groups to perform simultaneous bimanual reaches with no barrier present, but when a barrier was present the 11.month-olds were most likely to continue to perform simultaneous reaches. This suggests that while infants as young as 7 months perform simultaneous reaches, the organization of these reaches may be different than for older infants. Hand-use preference contributed significantly to selection of a lead hand in non-simultaneous bimanual reaching. The 8-month group, which had the highest proportion of infants with a hand preference, was the only group likely to hit the barrier when it was placed on the nonpreferred side. Hand preference may, thus, bias the use of information about what the environment affords for action.

A Dynamical Systems Approach to Infant Oral Feeding and Dysphagia: From Model System to Therapeutic Medical Device

Abstract A dynamical systems approach to infant feeding problems is presented. A theoretically motivated analysis of coordination among sucking, swallowing, and breathing is at the heart of the approach. Current views in neonatology and allied medical disciplines begin their analysis of feeding problems with reference to descriptive phases of moving fluid from the mouth to the gut. By contrast, in a dynamical approach, sucking, swallowing, and breathing are considered as a synergy characterized by more or less stable coordination patterns. Research with healthy and at-risk groups of infants is presented to illustrate how coordination dynamics distinguish safe swallowing from patterns of swallowing and breathing that place premature infants at risk for serious medical problems such as pneumonia. Coordination dynamics is also the basis for a new medical device: a computer-controlled milk bottle that controls milk flow on the basis of the infants coordination patterns. The device is designed so that infants may gradually take complete control of milk flow as they begin to discover the relation between swallowing and breathing.

Premature Infant Swallowing: Patterns of Tongue-Soft Palate Coordination Based Upon Videofluoroscopy

Coordination between movements of individual tongue points, and between soft palate elevation and tongue movements, were examined in 12 prematurely born infants referred from hospital NICUs for videofluoroscopic swallow study (VFSS) due to poor oral feeding and suspicion of aspiration. Detailed post-evaluation kinematic analysis was conducted by digitizing images of a lateral view of digitally superimposed points on the tongue and soft palate. The primary measure of coordination was continuous relative phase of the time series created by movements of points on the tongue and soft palate over successive frames. Three points on the tongue (anterior, medial, and posterior) were organized around a stable in-phase pattern, with a phase lag that implied an anterior to posterior direction of motion. Coordination between a tongue point and a point on the soft palate during lowering and elevation was close to anti-phase at initiation of the pharyngeal swallow. These findings suggest that anti-phase coordination between tongue and soft palate may reflect the process by which the tongue is timed to pump liquid by moving it into an enclosed space, compressing it, and allowing it to leave by a specific route through the pharynx.

Dynamics of oralrespiratory coordination in full‐term and preterm infants: I. Comparisons at 38‐40 weeks postconceptional age

This study compares the coordination of pacifier sucking and breathing between healthy full-term, low risk preterm, and high risk preterm infants at 38–40 weeks postconceptional age. High and low risk preterm infants did not differ in overall score on a neurobehavioral examination (NAPI), but infants in the high risk group differed from the others in breathing frequency and in the coordination of breathing and sucking rhythms. For infants in the high risk group, sucking had less influence on respiratory frequency and patterns of coordination between the frequencies of sucking and breathing were simpler. Oral–respiratory coordination may be a useful marker of infants at risk for later speech problems.

The ecological approach to perceiving as a foundation for understanding the development of knowing in infancy

Abstract The ecological thesis of direct realism is used as a framework for examining the development of knowing in human infancy. When information for perceiving is defined ecologically (i.e., relative to the situational context and to the physical dimensions, capabilities, and needs of the perceiver), knowing need not be construed as the act of using representations to give meaning to acts or percepts. Knowing, alternatively, is the act of noticing affordances, situation and perceiverspecific meanings of objects, according to their value to the perceiver for achieving specific goals. Changes with development in infant sensorimotor functioning may, in this view, be explained by a process of increasing economy in noticing potentially available affordances, rather than a process of constructing a representational system for making present something not present. Studies of three infant skills widely attributed to the onset of representation are examined with regard to this ecological thesis. Results indicate that the noticing of affordances is critically involved in each of these skills.

Preterm Infant Swallowing of Thin and Nectar-Thick Liquids: Changes in Lingual–Palatal Coordination and Relation to Bolus Transit

Tongue–soft palate coordination and bolus head pharyngeal transit were studied by means of postacquisition kinematic analysis of videofluoroscopic swallowing images of ten preterm infants referred from hospital NICUs due to poor oral feeding and suspicion of aspiration. Sequences of coordinated tongue–soft palate movements and bolus transits during swallows of thin-consistency and nectar-thick-consistency barium were digitized, and time series data were used to calculate continuous relative phase, a measure of coordination. During swallows of nectar-thick compared to thin barium, tongue–soft palate coordination was more likely to be antiphase, bolus head pharyngeal transit time was longer, and coordination was significantly correlated with bolus head pharyngeal transit. Analysis of successive swallows indicated that tongue–soft palate coordination variability decreased with nectar-thick but not with thin-consistency barium. Together, the results suggest that slower-moving bolus transits may promote greater opportunity for available sensory information to be used to modulate timing of tongue–soft palate movements so that they are more effective for pumping liquids.