1 portable haptic aids for training and rehabilitation li jiang april 4 th 2008
DESCRIPTION
Background VR TrainingConclusion Stroke and Multiple Sclerosis 3 Portable vs Grounded Grounded Device Portable DeviceTRANSCRIPT
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Portable Haptic Aids for Training and Rehabilitation
Li Jiang April 4th 2008
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Presentation Outline
• Background
• Portable haptic aids for emergency personnel virtual reality (VR) training
• Portable haptic aids for stroke and multiple sclerosis
• Conclusion
• Future work
Emergency personnel training
Stroke Rehabilitation
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Portable vs Grounded
Grounded Device Portable Device
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Force
Vibration
PortableGroundedDesign Tradeoffs:
Performance
Price
Portability
……..
Haptic Devices
“Rumble” joystick Pager motors
Cyberforce Cybergrasp
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Event-Cue vs Amplitude-Based Feedback
Event-Cue Feedback (ECF)Amplitude-Based Feedback (ABF)
ABF: analog information ECF: symbolic information
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Portable Haptic Aid for Emergency Personnel Virtual
Reality (VR) Training
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Haptic Devices for Emergency Personnel VR Training
“Immersive” training systems withhaptic feedback have been expensive and encumbering
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Portable Haptic Aids for VR Emergency Personnel Training
Unlike motor-skill related VR training, VR emergency personnel training focuses on high level abstract skill training such as team procedures and collaborations in dangerous and confusing environments.
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Questions to Answer through First Set of Experiments
• Can low-cost, portable vibrational feedback improve trainees’ training performance in emergency procedures?
• How does vibrational “event-cue” feedback compare with amplitude-based force feedback?
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Background VR Training Conclusion Stroke and Multiple Sclerosis
VR for Experiment I
Virtual environment generated by Half-Life videogame engine
*Half-life: a science fiction first-person shooter computer game.
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Experiment I ScenarioThe task given to users was to go through a dark, cluttered and potentially hazardous corridor in the aftermath of an explosion.
15 random-order obstacles in the corridor,
A dim red light indicates the direction of the exit.
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Portable Haptic Feedback
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Experiment Procedure and Metrics
8 Subjects (5 male, 3 female)
Experiment order was randomized and counterbalanced *Subjects were told that time is not a metric in the memory trials
Speed Trials Memory Trials
Requirement Go through the corridor as fast as possible, avoiding collisions
One minute for negotiating the corridor (ample time to pass through the corridor).
Metric Time Number of obstacles recorded (i.e., remembered)Number of obstacles recorded correctly.Time*
Two Feedback Modes: ECF (event cue) and no-haptic feedback
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Experiment Results: Memory
ECF Moderecorded
No-Haptic Moderecorded
Paired T test:
F(1,7) = 14 P<0.01(significant)
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Experiment Results: MemoryPaired T test:
F(1,7) =8.75 P<0.01(significant)
ECF Moderecordedcorrectly
No-Haptic ModerecordedCorrectly
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Experiment Results: Speed
Speed Trials
Time with ECF vibration feedback
Tim
e w
ithou
t vib
ratio
n fe
edba
ck
Memory Trials
Time with ECF vibration feedback
Tim
e w
ithou
t vib
ratio
n fe
edba
ck
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Background VR Training Conclusion Stroke and Multiple Sclerosis
VR generated by Half-Life Game engine:a dark and confusing building with rooms to navigate and clear.
Commercial vibration, force joysticks
Modified by Immersion Studio.
Experiment II: Event-Cue Vibration Feedback (ECF) vs Amplitude-Based Force Feedback (ABF)
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Experiment MetricsWhile soldiers are clearing the building layout, they should stop at each door before entering each rooms to make sure there is no potential danger in the rooms. [Holifield, Leonard., “Close-Quarter Combat: A Soldier's Guide to Hand-To-Hand Fighting,” Paladin Press, May 1997.]
Subject Hostage
Subjects were asked to stop at each door to mimic this event. A contact between the subject’s body and the wall beside the door was counted as the completion of the check. The number of times a subject failed to execute this check is counted as an error metric.
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Building Layouts and Feedback Methods
Typical building layout (layouts were chosen randomly from a variations on the one shown above)
Feedback Methods:
Amplitude-Based Force Feedback (ABF)
Event-Cue Vibration Feedback (ECF)
No Haptic Feedback (NHF)
Error metric: Number of missed safety checks
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Experiment II Results
Bonferroni Corrected Paired T test:
F(1,11) = 14.86 P<0.01 (significant)
F(1,11) = 19.85 P<0.01 (significant)
12 subjects, experiment order counterbalanced
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Background VR Training Conclusion Stroke and Multiple Sclerosis
VR Emergency Personnel Training Experiment Results
• Can portable event-cue vibrational feedback improve trainees’ training performance?
• How does vibrational event-cue feedback compare with amplitude-based force feedback in VR emergency personnel training scenarios?
Yes, Significantly !
Event-cue vibrational feedback can improve subjects’ performance as well as amplitude-based force feedback.
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Portable Haptic Aids for Stroke and Multiple Sclerosis
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Previous Haptic Feedback Devices
The ARCMIME system and MIME system
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Haptic Feedback Strategy Framework
Force Sensor
Force information collected by sensors on the impaired hand are rendered to the healthy hand through small vibrational tactors
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Three Feedback Modes Provided
NHF mode: No-Haptic Feedback
ABF mode: Amplitude-Based Feedback
ECF mode: Event-Cue Feedback
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Stroke and MS Experiment Goals
• Can vibrational feedback improve patients’ ability in manual force control?
• How does the event-cue feedback (ECF) strategy compare with the amplitude-based feedback (ABF) strategy?vs.
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Stroke Patients Multiple Sclerosis Patients
Poor Hand Motor Skill Better Hand Motor Skill
Not able to open impaired hand Able to open impaired hand
Comparison of Impairments
Conclusion: First, we need a device to help stroke patients to open their impaired hands
Sensory loss Sensory loss
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Hand-Opening Device Design
Design Process:
Six design iterations and prototypes (details in the thesis)
Each prototype was evaluated by stroke patients and therapists.
Design Goal:
A passive mechanical system that can transfer power from healthy hand to the impaired hand to help the impaired hand open.
Impaired Side Healthy Side
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Hand Opening Device DemoWithout the help
from the healthy side With the help
from the healthy side
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Feedback Strategy for Stroke
Healthy Hand Impaired Hand
Microcontroller and circuits
Force Data
Box with Force SensorsVibration
Tactor
Impaired hand grasps an instrumented box, with help of vibration feedback applied to the back of the opposite hand.
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Tactor: A Low-Cost, Small, Wearable Vibrational Feedback Device
Pulse Width
Period …. t
V 5V
Pager motor output (magnitude of vibratory force) is a nonlinear function of applied voltage or current.
Best results are obtained by creating a pulse train with varying frequency andduty cycle.
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Event-Cue Feedback Mode
Event-Cue Feedback (ECF)
grasp force is below desired threshold grasp force exceeds desired threshold
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Amplitude-Based Feedback Mode
Vibration pattern:
Period varies Reciprocal to measured grasp force.
Pulse width increases with the increase of grasp force.
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Background VR Training Conclusion Stroke and Multiple Sclerosis
ABF mode Perception Test
-1 0 1 2 3 4 5 6 70
10
20
30
40
50
60
70
80
90
Measured Grasping Force
Perc
eive
d m
agni
tude
R2 = 0.9909Slope = 13.7887
Based on data of 6 subjects
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Force Sensing Experiment with Stroke Patients
Instrumented object with force sensors to measure the grasping forcesthat subjects provided with their impaired hand.
Force Sensor
ForceSensor
Grasp Force
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Pilot Experiment with Stroke Patients • Three Subjects (2 male, 1 female).
• Task:Subjects were asked to grasp an object and try to use minimum force to maintain a stable grasp without dropping the object for 10 seconds and then replace it.
• Two metrics: Force Failure rate
• Three feedback modes:
NHF ABF ECF
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Background VR Training Conclusion Stroke and Multiple Sclerosis
ANOVA test: p=0.0005 Bonferroni corrected paired T test:
NHF vs ABF: p<0.005, NHF vs ECF: p<0.0002.
ABF vs ECF p<0.905
Experiment Data Analysis
No significant results were found in Failure
Rate
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Masku Neurological Rehabilitation Center
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Feedback Strategy for Multiple Sclerosis
Healthy Hand Impaired Hand
Microcontroller and circuits
Force Sensorattached to fingerpad
Vibrational tactorattached to fingernail
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Force SensorsExperiment with Multiple Sclerosis patients
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Experiment DesignGoal:Determine whether portable haptic feedback can improve patients’ finger force control ability.
Task:Grab an object and raise it up from the desk. Subjects were asked to balance the forces they applied on the index, middle and ring finger. When they feel the force is balanced, they should hold the object for 5 seconds and then put it back to the desk.
Feedback Modes:NHF Mode, ABF Mode, ECF Mode
ECF: users alerted whenever one finger apply too much or too less force.ABF: vibration pattern (intensity) is in proportion to the measured force
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Experiment Procedure
• Every user completed the task under all three modes in one of the six possible orderings (NHF-ABF-ECF, NHF-ECF-ABF, ABF-ECF-NHF, etc…).
• Ample time was provided for pre-test practice to minimize learning effects.
• Practice trials were provided every time the mode was switched.
24 Subjects (8 male, 16 female, age range: 33 to 64 with a mean of 56.4). The recruited subjects all have reduced sensation in one hand and good sensation in the other hand.
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Force Data Analysis
Average force : Fa = (Fi+Fm+Fr)/3;
Fi: Index finger force Fm: Middle finger force Fr: Ring finger force
The metric:sum of the force differences with respect to the average force:
Force_sum = abs(Fi – Fa)+abs(Fm – Fa)+abs(Fr – Fa)
Analysis uses the last 5 seconds of force data before subjects released the box. (Subjects were asked to maintain force balance for 5 seconds before replacing the box)
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Sum of Force Differences for 24 Subjects
NHF ABF ECF0
0.5
1
1.5
2
2.5
Sum
of f
orce
diff
eren
ces
to th
e av
erag
e fo
rce Sum of Force Differences in 3 Different modes
Bonferroni corrected PairedT test:
NHF vs ECF, p < NHF vs ABF, p <
ABF vs ECF, p < 0.27
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Nine-Hole-Peg Test
Task: placing 9 dowels in 9 holes.
Subjects are scored on the amount of time it takes to place and remove all 9 pegs.
It is widely used in MS clinical trials to quantitatively assess upper extremity function.
Impairment Level:
IL = (Subject’s completion time/Normal completion time*) - 1
*for subject’s age group
Looking for evidence of correlation between impairment level and most useful type of feedback
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Background VR Training Conclusion Stroke and Multiple Sclerosis
more impairedless impaired
10-1
100
101
-40
-30
-20
-10
0
10
20
30
Impairment Level (IL)
Diff
eren
ce in
Per
cent
Impr
ove
men
t for
AB
F vs
EC
FA
BF
bett
erE
CF
bett
er
Difference in Improvement for ABF vs ECF, with Respect to NHF Baseline
R2 = 0.53
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Background VR Training Conclusion Stroke and Multiple Sclerosis
ABF vs ECF: p < 0.00001 ABF vs ECF: p < 0.00001
Sum of Force Difference for More and Less Impaired Groups
More impaired group (14 subjects) Less impaired group (10 subjects )
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Event-Cue Feedback vs Amplitude-Based Feedback
Mildly impaired patients performed better with event-cue feedback (ECF), while severely impaired patients performed better with amplitude-based feedback (ABF).
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Failure Rates for the Different Modes
Significance found:
NHF vs ECF, p < 0.0006;
NHF vs ABF, p < 7·10-8;
ABF vs ECF, p < 0.002;
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Summary of Stroke and MS Studies
• Can portable vibrational feedback (ECF or ABF) improve patients’ ability in grasping force control?
• How does the amplitude-based feedback strategy compare with the event-cue feedback strategy?
Yes! For stroke: 15% For multiple sclerosis: 60%
They both result in reduced failures.
For mildly impaired patients: ECF > ABFFor severely impaired patients: ABF > ECF
ABF results in less failures than ECF overall.
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Background VR Training Conclusion Stroke and Multiple Sclerosis
• Event-cue, portable vibration feedback can significantly improve trainees’ performance in VR training procedures. – It works as well as proportional force feedback for certain training procedures.
• Event-cue and amplitude-based vibrational feedback, applied to the opposite hand, can significantly improve the ability of stroke and multiple sclerosis patients’ to control their grasp forces.
• Mildly impaired MS patients performed better with event-cue vibration feedback while severely impaired patients performed better with amplitude-based feedback mode.– This suggests that where a feedback channel is mostly intact, event cues are
helpful to maintain performance (e.g. due to distraction of fatigue).Conversely, where a feedback channel is absent, it is best to provide one.
Conclusions
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Background VR Training Conclusion Stroke and Multiple Sclerosis
Other Contributions
• Designed a novel passive mechanical hand-opening device for stroke patients that can transfer power from the healthy hand to impaired hand.
• Developed a framework for feeding force information from the impaired hand to the healthy hand and proved its validity through experiments on stroke and MS patients. Part of the framework includes a method for mapping force magnitudes to the period and duty cycle of trains of vibration pulses.
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Future Works
• Rehabilitation results have not been not shown in this research because of time limitations. Further studies could be done to determine whether any lasting rehabilitation results after long-term use of the devices.
• The concept of putting multiple, small tactors with patterns of pulses on the body could be extended to other training applications.
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Acknowledgements
My great thanks to :
My advisor:
Professor Mark Cutkosky
Other mentors:
Professor Larry Leifer
Professor Machiel Van der Loos
Professor Joan Savall
My labmates:
Karlin Bark, Jason Wheeler, Yonglae Park, Sangbae Kim and all other BDML labmates
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Thank you very much!Questions?