Dataset Information

Bayesian Estimation of Potential Performance Improvement Elicited by Robot-Guided Training.

ABSTRACT: Improving human motor performance via physical guidance by an assist robot device is a major field of interest of the society in many different contexts, such as rehabilitation and sports training. In this study, we propose a Bayesian estimation method to predict whether motor performance of a user can be improved or not by the robot guidance from the user's initial skill level. We designed a robot-guided motor training procedure in which subjects were asked to generate a desired circular hand movement. We then evaluated the tracking error between the desired and actual subject's hand movement. Results showed that we were able to predict whether a novel user can reduce the tracking error after the robot-guided training from the user's initial movement performance by checking whether the initial error was larger than a certain threshold, where the threshold was derived by using the proposed Bayesian estimation method. Our proposed approach can potentially help users to decide if they should try a robot-guided training or not without conducting the time-consuming robot-guided movement training.

SUBMITTER: Takai A

PROVIDER: S-EPMC8567031 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature

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Bayesian Estimation of Potential Performance Improvement Elicited by Robot-Guided Training.

Takai Asuka A Lisi Giuseppe G Noda Tomoyuki T Teramae Tatsuya T Imamizu Hiroshi H Morimoto Jun J

Frontiers in neuroscience 20211021

Improving human motor performance via physical guidance by an assist robot device is a major field of interest of the society in many different contexts, such as rehabilitation and sports training. In this study, we propose a Bayesian estimation method to predict whether motor performance of a user can be improved or not by the robot guidance from the user's initial skill level. We designed a robot-guided motor training procedure in which subjects were asked to generate a desired circular hand m ...[more]

PMID: 34744603

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Project description:BackgroundIn the past years, robotic systems have become increasingly popular in upper limb rehabilitation. Nevertheless, clinical studies have so far not been able to confirm superior efficacy of robotic therapy over conventional methods. The personalization of robot-aided therapy according to the patients' individual motor deficits has been suggested as a pivotal step to improve the clinical outcome of such approaches.MethodsHere, we present a model-based approach to personalize robot-aided rehabilitation therapy within training sessions. The proposed method combines the information from different motor performance measures recorded from the robot to continuously estimate patients' motor improvement for a series of point-to-point reaching movements in different directions. Additionally, it comprises a personalization routine to automatically adapt the rehabilitation training. We engineered our approach using an upper-limb exoskeleton. The implementation was tested with 17 healthy subjects, who underwent a motor-adaptation paradigm, and two subacute stroke patients, exhibiting different degrees of motor impairment, who participated in a pilot test undergoing rehabilitative motor training.ResultsThe results of the exploratory study with healthy subjects showed that the participants divided into fast and slow adapters. The model was able to correctly estimate distinct motor improvement progressions between the two groups of participants while proposing individual training protocols. For the two pilot patients, an analysis of the selected motor performance measures showed that both patients were able to retain the improvements gained during training when reaching movements were reintroduced at a later stage. These results suggest that the automated training adaptation was appropriately timed and specifically tailored to the abilities of each individual.ConclusionsThe results of our exploratory study demonstrated the feasibility of the proposed model-based approach for the personalization of robot-aided rehabilitation therapy. The pilot test with two subacute stroke patients further supported our approach, while providing encouraging results for the applicability in clinical settings. Trial registration This study is registered in ClinicalTrials.gov (NCT02770300, registered 30 March 2016, https://clinicaltrials.gov/ct2/show/NCT02770300).

Project description:IntroductionEnhancing medical robot training traditionally relies on explicit feedback from physicians to identify optimal and suboptimal robotic actions during surgery. Passive brain-computer interfaces (BCIs) offer an emerging alternative by enabling implicit brain-based performance evaluations. However, effectively decoding these evaluations of robot performance requires a comprehensive understanding of the spatiotemporal brain dynamics identifying optimal and suboptimal robot actions within realistic settings.MethodsWe conducted an electroencephalographic study with 16 participants who mentally assessed the quality of robotic actions while observing simulated robot-assisted laparoscopic surgery scenarios designed to approximate real-world conditions. We aimed to identify key spatiotemporal dynamics using the surface Laplacian technique and two complementary data-driven methods: a mass-univariate permutation-based clustering and multivariate pattern analysis (MVPA)-based temporal decoding. A second goal was to identify the optimal time interval of evoked brain signatures for single-trial classification.ResultsOur analyses revealed three distinct spatiotemporal brain dynamics differentiating the quality assessment of optimal vs. suboptimal robotic actions during video-based laparoscopic training observations. Specifically, an enhanced left fronto-temporal current source, consistent with P300, LPP, and P600 components, indicated heightened attentional allocation and sustained evaluation processes during suboptimal robot actions. Additionally, amplified current sinks in right frontal and mid-occipito-parietal regions suggested prediction-based processing and conflict detection, consistent with the oERN and interaction-based ERN/N400. Both mass-univariate clustering and MVPA provided convergent evidence supporting these neural distinctions.DiscussionThe identified neural signatures propose that suboptimal robotic actions elicit enhanced, sustained brain dynamics linked to continuous attention allocation, action monitoring, conflict detection, and ongoing evaluative processing. The findings highlight the importance of prioritizing late evaluative brain signatures in BCIs to classify robotic actions reliably. These insights have significant implications for advancing machine-learning-based training paradigms.

Project description:This study examined the trainability of the proprioceptive sense and explored the relationship between proprioception and motor learning. With vision blocked, human learners had to perform goal-directed wrist movements relying solely on proprioceptive/haptic cues to reach several haptically specified targets. One group received additional somatosensory movement error feedback in form of vibro-tactile cues applied to the skin of the forearm. We used a haptic robotic device for the wrist and implemented a 3-day training regimen that required learners to make spatially precise goal-directed wrist reaching movements without vision. We assessed whether training improved the acuity of the wrist joint position sense. In addition, we checked if sensory learning generalized to the motor domain and improved spatial precision of wrist tracking movements that were not trained. The main findings of the study are: First, proprioceptive acuity of the wrist joint position sense improved after training for the group that received the combined proprioceptive/haptic and vibro-tactile feedback (VTF). Second, training had no impact on the spatial accuracy of the untrained tracking task. However, learners who had received VTF significantly reduced their reliance on haptic guidance feedback when performing the untrained motor task. That is, concurrent VTF was highly salient movement feedback and obviated the need for haptic feedback. Third, VTF can be also provided by the limb not involved in the task. Learners who received VTF to the contralateral limb equally benefitted. In conclusion, somatosensory training can significantly enhance proprioceptive acuity within days when learning is coupled with vibro-tactile sensory cues that provide feedback about movement errors. The observable sensory improvements in proprioception facilitates motor learning and such learning may generalize to the sensorimotor control of the untrained motor tasks. The implications of these findings for neurorehabilitation are discussed.

Project description:BackgroundSystems biology increasingly relies on deep sequencing with combinatorial index tags to associate biological sequences with their sample, cell, or molecule of origin. Accurate data interpretation depends on the ability to classify sequences based on correct decoding of these combinatorial barcodes. The probability of correct decoding is influenced by both sequence quality and the number and arrangement of barcodes. The rising complexity of experimental designs calls for a probability model that accounts for both sequencing errors and random noise, generalizes to multiple combinatorial tags, and can handle any barcoding scheme. The needs for reproducibility and community benchmark standards demand a peer-reviewed tool that preserves decoding quality scores and provides tunable control over classification confidence that balances precision and recall. Moreover, continuous improvements in sequencing throughput require a fast, parallelized and scalable implementation.Results and discussionWe developed a flexible, robustly engineered software that performs probabilistic decoding and supports arbitrarily complex barcoding designs. Pheniqs computes the full posterior decoding error probability of observed barcodes by consulting basecalling quality scores and prior distributions, and reports sequences and confidence scores in Sequence Alignment/Map (SAM) fields. The product of posteriors for multiple independent barcodes provides an overall confidence score for each read. Pheniqs achieves greater accuracy than minimum edit distance or simple maximum likelihood estimation, and it scales linearly with core count to enable the classification of > 11 billion reads in 1 h 15 m using < 50 megabytes of memory. Pheniqs has been in production use for seven years in our genomics core facility.ConclusionWe introduce a computationally efficient software that implements both probabilistic and minimum distance decoders and show that decoding barcodes using posterior probabilities is more accurate than available methods. Pheniqs allows fine-tuning of decoding sensitivity using intuitive confidence thresholds and is extensible with alternative decoders and new error models. Any arbitrary arrangement of barcodes is easily configured, enabling computation of combinatorial confidence scores for any barcoding strategy. An optimized multithreaded implementation assures that Pheniqs is faster and scales better with complex barcode sets than existing tools. Support for POSIX streams and multiple sequencing formats enables easy integration with automated analysis pipelines.

Dataset Information

Bayesian Estimation of Potential Performance Improvement Elicited by Robot-Guided Training.

Publications

Bayesian Estimation of Potential Performance Improvement Elicited by Robot-Guided Training.

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