000162957 001__ 162957
000162957 005__ 20251017144637.0
000162957 0247_ $$2doi$$a10.1126/scirobotics.adl0085
000162957 0248_ $$2sideral$$a138708
000162957 037__ $$aART-2024-138708
000162957 041__ $$aeng
000162957 100__ $$aSagastegui Alva, Patrick G.
000162957 245__ $$aExcitation of natural spinal reflex loops in the sensory-motor control of hand prostheses
000162957 260__ $$c2024
000162957 5060_ $$aAccess copy available to the general public$$fUnrestricted
000162957 5203_ $$aSensory feedback for prosthesis control is typically based on encoding sensory information in specific types of sensory stimuli that the users interpret to adjust the control of the prosthesis. However, in physiological conditions, the afferent feedback received from peripheral nerves is not only processed consciously but also modulates spinal reflex loops that contribute to the neural information driving muscles. Spinal pathways are relevant for sensory-motor integration, but they are commonly not leveraged for prosthesis control. We propose an approach to improve sensory-motor integration for prosthesis control based on modulating the excitability of spinal circuits through the vibration of tendons in a closed loop with muscle activity. We measured muscle signals in healthy participants and amputees during different motor tasks, and we closed the loop by applying vibration on tendons connected to the muscles, which modulated the excitability of motor neurons. The control signals to the prosthesis were thus the combination of voluntary control and additional spinal reflex inputs induced by tendon vibration. Results showed that closed-loop tendon vibration was able to modulate the neural drive to the muscles. When closed-loop tendon vibration was used, participants could achieve similar or better control performance in interfaces using muscle activation than without stimulation. Stimulation could even improve prosthetic grasping in amputees. Overall, our results indicate that closed-loop tendon vibration can integrate spinal reflex pathways in the myocontrol system and open the possibility of incorporating natural feedback loops in prosthesis control.
000162957 536__ $$9info:eu-repo/grantAgreement/EC/H2020/810346/EU/Calibrating and Improving Mechanistic models of Biodiversity/CLIMB$$9This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No H2020 810346-CLIMB$$9info:eu-repo/grantAgreement/ES/MICINN/CNS2022-135366$$9info:eu-repo/grantAgreement/ES/MICINN/RYC2021-031905-I
000162957 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000162957 590__ $$a27.5$$b2024
000162957 591__ $$aROBOTICS$$b1 / 48 = 0.021$$c2024$$dQ1$$eT1
000162957 592__ $$a5.94$$b2024
000162957 593__ $$aArtificial Intelligence$$c2024$$dQ1
000162957 593__ $$aMechanical Engineering$$c2024$$dQ1
000162957 593__ $$aControl and Optimization$$c2024$$dQ1
000162957 593__ $$aComputer Science Applications$$c2024$$dQ1
000162957 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000162957 700__ $$aBoesendorfer, Anna
000162957 700__ $$aAszmann, Oskar C.
000162957 700__ $$0(orcid)0000-0001-8439-151X$$aIbáñez, Jaime$$uUniversidad de Zaragoza
000162957 700__ $$aFarina, Dario
000162957 7102_ $$15008$$2800$$aUniversidad de Zaragoza$$bDpto. Ingeniería Electrón.Com.$$cÁrea Teoría Señal y Comunicac.
000162957 773__ $$g9, 90 (2024)$$pSci. robotics$$tScience robotics$$x2470-9476
000162957 8564_ $$s4480439$$uhttps://zaguan.unizar.es/record/162957/files/texto_completo.pdf$$yPostprint
000162957 8564_ $$s2287320$$uhttps://zaguan.unizar.es/record/162957/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000162957 909CO $$ooai:zaguan.unizar.es:162957$$particulos$$pdriver
000162957 951__ $$a2025-10-17-14:30:09
000162957 980__ $$aARTICLE