Kojiro Matsushita

Electrocorticographic Control of a Prosthetic Arm in Paralyzed Patients

Paralyzed patients may benefit from restoration of movement afforded by prosthetics controlled by electrocorticography (ECoG). Although ECoG shows promising results in human volunteers, it is unclear whether ECoG signals recorded from chronically paralyzed patients provide sufficient motor information, and if they do, whether they can be applied to control a prosthetic.

Ischemic damage and subsequent proliferation of oligodendrocytes in focal cerebral ischemia

In order to achieve a better understanding of the pathophysiology of ischemic white matter lesions, oligodendrocytic degeneration and subsequent proliferation were examined in the mouse model of middle cerebral artery occlusion. In situ hybridization histochemistry for proteolipid protein messenger RNA was employed as a sensitive and specific marker of oligodendrocytes, and immunohistochemistry for myelin basic protein was used as a compact myelin marker. Immunohistochemistry for microtubule-associated protein 2 and albumin was employed to monitor neuronal degeneration and the breakdown of the blood brain barrier, respectively. In the ischemic core of the caudoputamen, the immunoreactivity for microtubule-associated protein 2 disappeared and massive albumin extravasation occurred several hours after vessel occlusion, while proteolipid protein messenger RNA signals remained relatively strong at this time. The messenger RNA signals began to attenuate 12 h after ischemia and were hardly detectable 24 h after ischemia in the whole ischemic lesion. In situ end-labeling of fragmented DNA showed some cells with proteolipid protein messenger RNAs to have DNA fragmentation at this period. In contrast to proteolipid protein messenger RNA signals, the immunoreactivity for myelin basic protein was detected as long as five days after ischemia. An apparent increase in the cells possessing strong proteolipid protein messenger RNA signals was found five days after ischemia, mainly in the corpus callosum and the cortex bordering the infarcted areas. A double simultaneous procedure with in situ hybridization for proteolipid protein messenger RNA and immunohistochemistry for glial fibrillary acid protein or lectin histochemistry for macrophages/microglia showed proliferating oligodendrocytes to be co-localized with reactive astrocytes and macrophages/microglia. These findings show that oligodendrocytic damage occurred following ischemic neuronal damage and the breakdown of the blood brain barrier, but preceded the breakdown of myelin proteins in the ischemic lesion, that an apoptosis-like process was involved in ischemic oligodendrocytic death, and that surviving oligodendrocytes responded and proliferated in the outer border of the infarcted area.

Ischemic tolerance in hippocampal CA1 neurons studied using contralateral controls

We induced ischemic tolerance unilaterally in gerbil hippocampus using the contralateral hippocampus as control. Ischemia for 2 min of right common carotid occlusion was reversible but sufficient to cause heat-shock protein 70 production in CA1 neurons. This pretreatment given four days prior to occlusion of both common carotids for 5 min, but not at longer preceding intervals, induced tolerance in right CA1 neurons. Neuroprotection was still evident two months after the 5 min occlusion. Adenosine triphosphate content and immunoreactive microtubule associate protein 2 in the hippocampus showed that the 5 min ischemic insult was essentially equal in both hemispheres. Repetitive pretreatments at two day intervals caused almost complete protection of CA1 neurons against subsequent 5 min ischemia, while a single pretreatment showed 80% protection. However, the increase in heat-shock protein 70 with repeated pretreatments was not significantly more than with one pretreatment. We concluded that true ischemic tolerance was induced by ischemic stress itself, was long-lasting, was not due to mitigation of subsequent ischemia, and was augmented by repetition without further increase of heat-shock protein 70.

Development of hand rehabilitation system for paralysis patient – universal design using wire-driven mechanism –

We have developed a hand rehabilitation system for patients suffering from paralysis or contracture. It consists of two components: a hand rehabilitation machine, which moves human finger joints with motors, and a data glove, which provides control of the movement of finger joints attached to the rehabilitation machine. The machine is based on the arm structure type of hand rehabilitation machine; a motor indirectly moves a finger joint via a closed four-link mechanism. We employ a wire-driven mechanism and develop a compact design that can control all three joints (i.e., PIP, DIP and MP ) of a finger and that offers a wider range of joint motion than conventional systems. Furthermore, we demonstrate the hand rehabilitation process, finger joints of the left hand attached to the machine are controlled by the finger joints of the right hand wearing the data glove.

Locomoting with Less Computation but More Morphology

Biped walking is one of the most graceful movements observed in humans. Today’s humanoid robots, despite their undeniably impressive performance, are still a long way from the elegance and grace found in Nature. To narrow the gap between natural and artificial systems, we propose to rely more on morphology, intrinsic dynamics, and less on raw computation. This paper documents a series of simulated and real “pseudo-passive” dynamic biped walkers in which computation is traded off for good morphology, that is, adequate mechanical design and appropriate material properties These two factors are parameterized, and the resulting solution space is explored in simulation. Interesting solutions are then realized in the real world. Our experiments show that successful pseudo-passive walkers with a good morphology locomote by converting oscillatory energy into forward movement.

Neural decoding of unilateral upper limb movements using single trial MEG signals

A brain machine interface (BMI) provides the possibility of controlling such external devices as prosthetic arms for patients with severe motor dysfunction using their own brain signals. However, there have been few studies investigating the decoding accuracy for multiclasses of useful unilateral upper limb movements using non-invasive measurements. We investigated the decoding accuracy for classifying three types of unilateral upper limb movements using single-trial magnetoencephalography (MEG) signals. Neuromagnetic activities were recorded in 9 healthy subjects performing 3 types of right upper limb movements: hand grasping, pinching, and elbow flexion. A support vector machine was used to classify the single-trial MEG signals. The movement types were predicted with an average accuracy of 66 ± 10% (chance level: 33.3%) using neuromagnetic activity during a 400-ms interval (-200 ms to 200 ms from movement onsets). To explore the time-dependency of the decoding accuracy, we also examined the time course of decoding accuracy in 50-ms sliding windows from -500 ms to 500 ms. Decoding accuracies significantly increased and peaked once before (50.1 ± 4.9%) and twice after (58.5 ± 7.5% and 64.4 ± 7.6%) movement onsets in all subjects. Significant variability in the decoding features in the first peak was evident in the channels over the parietal area and in the second and third peaks in the channels over the sensorimotor area. Our results indicate that the three types of unilateral upper limb movement can be inferred with high accuracy by detecting differences in movement-related brain activity in the parietal and sensorimotor areas.

Wireless Multichannel Neural Recording With a 128-Mbps UWB Transmitter for an Implantable Brain-Machine Interfaces

Simultaneous recordings of neural activity at large scale, in the long term and under bio-safety conditions, can provide essential data. These data can be used to advance the technology for brain-machine interfaces in clinical applications, and to understand brain function. For this purpose, we present a new multichannel neural recording system that can record up to 4096-channel (ch) electrocorticogram data by multiple connections of customized application-specific integrated circuits (ASICs). The ASIC includes 64-ch low-noise amplifiers, analog time-division multiplexers, and 12-bit successive approximation register ADCs. Recorded data sampled at a rate of 1 kS/s are multiplexed with time division via an integrated multiplex board, and in total 51.2 Mbps of raw data for 4096 ch are generated. This system has an ultra-wideband (UWB) wireless unit for transmitting the recorded neural signals. The ASICs, multiplex boards, and UWB transmitter unit are designed with the aim of implanting them. From preliminary experiments with a human body-equivalent liquid phantom, we confirmed 4096-ch UWB wireless data transmission at 128 Mbps for distances below 20 mm .

Development of hand rehabilitation system using wire-driven link mechanism for paralysis patients

In this paper, we present a hand rehabilitation system for patients suffering from paralysis or contracture. It consist of two components: a hand rehabilitation machine, which moves human finger joints using motors, and a data glove, which enables controlling the movement of the finger joints attached to the rehabilitation machine. The machine is based on the arm structure type of hand rehabilitation machine; a motor indirectly moves a finger joint via a closed four-link mechanism. We employ a wire-driven mechanism and coupled mechanism for DIP and PIP joints. These mechanism render the machine lightweight, and offer wider range of motion than conventional systems. The design specifications of the mechanisms and experimental results are shown.

Patient-Specific Cortical Electrodes for Sulcal and Gyral Implantation

Purpose: Noninvasive localization of certain brain functions may be mapped on a millimetre level. However, the interelectrode spacing of common clinical brain surface electrodes still remains around 10 mm. Here, we present details on development of electrodes for attaining higher quality electrocorticographic signals for use in functional brain mapping and brain-machine interface (BMI) technologies. Methods: We used platinum-plate-electrodes of 1-mm diameter to produce sheet electrodes after the creation of individualized molds using a 3-D printer and a press system that sandwiched the electrodes between personalized silicone sheets. Results: We created arrays to fit the surface curvature of the brain and inside the central sulcus, with interelectrode distances of 2.5 mm (a density of 16 times previous standard types). Rat experiments undertaken indicated no long term toxicity. We were also able to custom design, rapidly manufacture, safely implant, and confirm the efficacy of personalized electrodes, including the capability to attain meaningful high-gamma-band information in an amyotrophic lateral sclerosis patient. Conclusion: We developed cortical sheet electrodes with a high-spatial resolution, tailor-made to match an individuals brain. Significance: This sheet electrode may contribute to the higher performance of BMIs.

Development of Drum CVT for a wire-driven robot hand

We propose a load sensitive Continuously Variable Transmission (CVT) for a wire-driven robot hand “Drum CVT”, and aims at achieving efficient finger motions by mechanically changing the reduction rate of the drive: fast finger motion with low load (i.e., low drive at fast motion) and slow finger motion with high load (i.e., high drive at slow motion). We developed two material types of Drum CVT: the deflection-type (using nylon) and the torsion-type (using metal). Both types are investigated in both theoretical and actual models, and demonstrated their performance. Eventually, we revealed those characteristics, and indicated the usage of each Drum-CVT.