The continuous and simultaneous monitoring of physiological parameters represents a key aspect in clinical environments, remote monitoring and occupational settings. In this regard, respiratory rate (RR) and heart rate (HR) are correlated with several physiological and pathological conditions of the patients/workers, and with environmental stressors. In this work, we present and validate a wearable device for the continuous monitoring of such parameters. The proposed system embeds four conductive sensors located on the user’s chest which allow retrieving the breathing activity through their deformation induced during cyclic expansion and contraction of the rib cage. For monitoring HR we used an embedded IMU located on the left side of the chest wall. We compared the proposed device in terms of estimating HR and RR against a reference system in three scenarios: sitting, standing and supine. The proposed system reliably estimated both RR and HR, showing low error averaged along subjects in all scenarios. This is the first study focused on the feasibility assessment of a wearable system based on a multi-sensor configuration (i.e., conductive sensors and IMU) for RR and HR monitoring. The promising results encourage the application of this approach in clinical and occupational settings.

This work focuses on the design and the validation of a wearable mechatronic device for an at-home assessment of wrist stiffness in patients affected by Parkinson’s Disease (PD). The device includes one actuated joint and four passive revolute joints with a high overall intrinsic backdriveability. In order to allow the user to freely move the wrist during activities of daily living, we implemented a transparent controller on the basis of the interaction force sensed by the embedded load cell. Conversely, in order to provide perturbations for estimating the wrist flexion-extension rigidity, we implemented a torque controller. Firstly, we report a pilot study that aimed at characterizing the device in terms of range of motion (ROM) allowed, transparency perceived and torque-tracking capability. Then, we present a case study in which we tested our device with seven PD patients in both drug-OFF and drug-ON conditions and we compared the measured stiffness with the one measured in fourteen healthy controls and with the outcome of the most used clinical scale (MDS-UPDRS). The device allowed to successfully estimate the stiffness as different depending on the movement direction. Indeed, extension stiffness was higher than the flexion one, accordingly to the literature. Moreover, the device allowed to discriminate both Healthy subjects from PD subjects, and PD subjects in OFF condition from PD subjects in ON condition. In conclusion, we demonstrate the feasibility of the device in measuring wrist rigidity, thus enabling the possibility to implement an at-home assessment of the PD rigidity.

Introduction: Gait features differ between Parkinson’s disease (PD) and healthy subjects (HS). Kinematic alterations of gait include reduced gait speed, swing time, and stride length between PD patients and HS. Stride time and swing time variability are increased in PD patients with respect to HS. Additionally, dynamic parameters of asymmetry of gait are significantly different among the two groups. The aim of the present study is to evaluate which kind of gait analysis (dynamic or kinematic) is more informative to discriminate PD and HS gait features. Methods: In the present study, we analyzed gait dynamic and kinematic features of 108 PD patients and 88 HS from four cohorts of two datasets. Results: Kinematic features showed statistically significant differences among PD patients and HS for gait speed and time Up and Go test and for selected kinematic dispersion indices (standard deviation and interquartile range of swing, stance, and double support time). Dynamic features did not show any statistically significant difference between PD patients and HS. Discussion: Despite kinematics features like acceleration being directly proportional to dynamic features like ground reaction force, the results of this study showed the so-called force/rhythm dichotomy since kinematic features were more informative than dynamic ones.

Over a lifetime of experience, the representation of the body is built upon congruent integration of multiple elements constituting the sensorimotor loop. To investigate its robustness against the rupture of congruency between senses and with motor command, we selectively manipulated in healthy subjects the binds between sight, proprioception, and efferent motor command. Two experiments based on the Moving Hand Illusion were designed employing Tendon Vibration Illusion to modulate proprioception and generate illusory altered feedback of movement. In Experiment A, visuomotor congruency was modulated by introducing adelay between complex multifingered movements performed by arobotic hand and real movement of each participant's hand. In the presence of the motor command, visuomotor congruency enhanced ownership, agency, and skin conductance, while proprioceptive-motor congruency was not effective, confirming the prevalence of vision upon proprioception. In Experiment B, the impact of visuo-proprioceptive congruency was tested in the absence of motor command because the robotic hand moved autonomously. Intersensory congruency compensated for the absence of motor command only for ownership. Skin conductance in Exp Band Proprioceptive Drift in both experiments did not change. Results suggest that ownership and agency are independently processed, and presence of the efferent component modulates sensory feedbacks salience. The brain seems to require the integration of at least two streams of congruent information. Bodily awareness can be generated from sensory information alone, but to feel in charge of the body, senses must be double-checked with the prediction generated from efference copy, which is treated as an additional sensory modality.

Teleoperation offers the possibility to combine human intelligence with robot power and endurance, making it a perfect solution for hostile-for-human environments. Nonetheless, when it concerns prolonged and repetitive operations, classical teleoperation interfaces that replicate one-to-one human commands can be quite demanding in terms of physical and mental efforts. Shared-autonomy approaches, which foresee the combination of direct teleoperation with autonomous control, can help the operator in overcoming such issues without sacrificing the task execution efficiency. Following this philosophy, in this letter we propose a novel technique to assist the operators in reaching and manipulation of objects with one or two arms, combining local visual perception and operator’s action monitoring. In more details, the reaching intention of an operator towards a target object is detected, which is used to adapt robot trajectories autonomously towards a successful grasping pose. In addition, based on the detected size of a target object, single- or dual-arm coordinated movements are autonomously generated without the need for additional human interventions. The experimental results on thirteen participants confirm the potential of the proposed framework in terms of success rate and operator effort.