Humans can handle and manipulate objects with ease; however, human dexterity has yet to be matched by artificial systems. Receptors in our fingers and hands provide essential tactile information to the motor control system during dexterous manipulation such that the grip force is scaled to the tangential forces according to the coefficient of friction. Likewise, tactile sensing will become essential for robotic and prosthetic gripping performance as applications move toward unstructured environments. However, most existing research ignores the need to sense the frictional properties of the sensor–object interface, which (along with contact forces and torques) is essential for finding the minimum grip force required to securely grasp an object. Here, we review this problem by surveying the field of tactile sensing from the perspective that sensors should: 1) detect gross slip (to adjust the grip force); 2) detect incipient slip (dependent on the frictional properties of the sensor–object interface and the geometries and mechanics of the sensor and the object) as an indication of grip security; or 3) measure friction on contact with an object and/or following a gross or incipient slip event while manipulating an object. Recommendations are made to help focus future sensor design efforts toward a generalizable and practical solution to sense, and hence control grip security. Specifically, we propose that the sensor mechanics should encourage incipient slip, by allowing parts of the sensor to slip while other parts remain stuck, and that instrumentation should measure displacement and deformation to complement conventional force, pressure, and vibration tactile sensing.

Falls and fall related injuries are a significant cause of morbidity, disability, and health care utilization, particularly among the age group of 65 years and over. The ability to detect falls events in an unsupervised manner would lead to improved prognoses for falls victims. Several wearable accelerometry and gyroscope-based falls detection devices have been described in the literature; however, they all suffer from unacceptable false positive rates. This paper investigates the augmentation of such systems with a barometric pressure sensor, as a surrogate measure of altitude, to assist in discriminating real fall events from normal activities of daily living. The acceleration and air pressure data are recorded using a wearable device attached to the subject's waist and analyzed offline. The study incorporates several protocols including simulated falls onto a mattress and simulated activities of daily living, in a cohort of 20 young healthy volunteers (12 male and 8 female; age: 23.7 ±3.0 years). A heuristically trained decision tree classifier is used to label suspected falls. The proposed system demonstrated considerable improvements in comparison to an existing accelerometry-based technique; showing an accuracy, sensitivity and specificity of 96.9%, 97.5%, and 96.5%, respectively, in the indoor environment, with no false positives generated during extended testing during activities of daily living. This is compared to 85.3%, 75%, and 91.5% for the same measures, respectively, when using accelerometry alone. The increased specificity of this system may enhance the usage of falls detectors among the elderly population.

The rapid aging of the world's population, along with an increase in the prevalence of chronic illnesses and obesity, requires adaption and modification of current healthcare models. One such approach involves telehealth applications, many of which are based on sensor technologies for unobtrusive monitoring. Recent technological advances, in particular, involving microelectromechnical systems, have resulted in miniaturized wearable devices that can be used for a range of applications. One of the leading areas for utilization of body-fixed sensors is the monitoring of human movement. An overview of common ambulatory sensors is presented, followed by a summary of the developments in this field, with an emphasis on the clinical applications of falls detection, falls risk assessment, and energy expenditure. The importance of these applications is considerable in light of the global demographic trends and the resultant rise in the occurrence of injurious falls and the decrease of physical activity. The potential of using such monitors in an unsupervised manner for community-dwelling individuals is immense, but entails an array of challenges with regards to design c onsiderations, implementation protocols, and signal analysis processes. Some limitations of the research to date and suggestions for future research are also discussed.

A cardiorespiratory-based automatic sleep staging system for subjects with sleep-disordered breathing is described. A simplified three-state system is used: Wakefulness (W), rapid eye movement (REM) sleep (R), and non-REM sleep (S). The system scores the sleep stages in standard 30-s epochs. A number of features associated with the epoch RR-intervals, an inductance plethysmography estimate of rib cage respiratory effort, and an electrocardiogram-derived respiration (EDR) signal were investigated. A subject-specific quadratic discriminant classifier was trained, randomly choosing 20% of the subject's epochs (in appropriate proportions of W, S and R) as the training data. The remaining 80% of epochs were presented to the classifier for testing. An estimated classification accuracy of 79% (Cohen's /spl kappa/ value of 0.56) was achieved. When a similar subject-independent classifier was trained, using epochs from all other subjects as the training data, a drop in classification accuracy to 67% (/spl kappa/=0.32) was observed. The subjects were further broken in groups of low apnoea-hypopnea index (AHI) and high AHI and the experiments repeated. The subject-specific classifier performed better on subjects with low AHI than high AHI; the performance of the subject-independent classifier is not correlated with AHI. For comparison an electroencephalograms (EEGs)-based classifier was trained utilizing several standard EEG features. The subject-specific classifier yielded an accuracy of 87% (/spl kappa/=0.75), and an accuracy of 84% (/spl kappa/=0.68) was obtained for the subject-independent classifier, indicating that EEG features are quite robust across subjects. We conclude that the cardiorespiratory signals provide moderate sleep-staging accuracy, however, features exhibit significant subject dependence which presents potential limits to the use of these signals in a general subject-independent sleep staging system.