Biomedical subjects

R Brent Gillespie

Publications and source records attributed to R Brent Gillespie.

4 recordsLinked to original sources

PubMed2006

Head movement control in visually guided tasks: postural goal and optimality.

This work investigates the control of horizontal head movements in the context of unconstrained visually guided head and arm/finger aiming tasks. In a first experiment, the head was free to move while gaze was directed at randomly presented eccentric targets distributed horizontally (0 degrees-120 degrees) at eye level. In a second experiment, the horizontal head orientation was constrained to predetermined positions (0 degrees, 15 degrees, 30 degrees, 45 degrees or 60 degrees rightward) while the right index finger aimed at targets with the arm fully extended. Kinematics of head movements in gaze displacements exhibits an initial component weakly correlated with target position, followed by multiple corrections. Since the eyes are assumed to already be aimed at the target when the corrections occur, it is suggested that one goal of head movement control is to achieve a desired final orientation (posture). This hypothesis is supported by results from the second experiment that reveal an association between eye/head orientation angles and errors exhibited in the visuo-spatial representation of the environment. The minimization of error then underlies the control of head movement as a postural response optimized for a given target and task condition.

Adult↗

PubMed2006

Symmetry-based resistance as a novel means of lower limb rehabilitation.

Robotic devices hold much promise for use as rehabilitation aids but their success depends on identifying effective strategies for controlling human-robot interaction forces. We developed a robotic device to test a novel method of controlling interaction forces with the intent of improving force symmetry in the limbs. Users perform lower limb extensions against a computer-controlled resistive load. The control software increases resistance above baseline in proportion to lower limb force asymmetry (balance between left and right limb forces). As a preliminary trial to test the device and controller, we conducted two experiments on neurologically intact subjects. In experiment 1, one group of subjects received symmetry-based resistance while performing lower limb extensions (n=10). A control group performed the same movements with constant resistance (n=10). The symmetry-based resistance group improved lower limb symmetry during training (ANOVA, p<0.05), whereas the control subjects did not. In experiment 2, subjects (n=10) successfully used symmetry-based resistance to alter their lower limb force production towards a target asymmetry (ANOVA, p<0.05). These studies suggest that symmetry-based resistance may hold rehabilitation benefits after orthopedic or neurological injury. Specifically, performing strength training therapy with this controller may allow hemiparetic individuals to focus better on increasing strength and neuromuscular recruitment in their paretic limb while experiencing symmetric limb forces.

Adult↗

PubMed2006

Human adaptation to interaction forces in visuo-motor coordination.

We tested whether humans can learn to sense and compensate for interaction forces in contact tasks. Many tasks, such as use of hand tools, involve significant interaction forces between hand and environment. One control strategy would be to use high hand impedance to reduce sensitivity to these forces. But an alternative would be to learn feedback compensation for the extrinsic dynamics and associated interaction forces, with the potential for lower control effort. We observed subjects as they learned control of a ball-and-beam system, a visuo-motor task where the goal was to quickly position a ball rolling atop a rotating beam, through manual rotation of the beam alone. We devised a ball-and-beam apparatus that could be operated in a real mode, where a physical ball was present; or in a virtual training mode, where the ball's dynamics were simulated in real time. The apparatus presented the same visual feedback in all cases, and optionally produced haptic feedback of the interaction forces associated with the ball's motion. Two healthy adult subject groups, vision-only and vision-haptics (each n= 10), both trained for 80 trials on the simulated system, and then were evaluated on the real system to test for skill transfer effects. If humans incorporate interaction forces in their learning, the vision-haptics group would be expected to exhibit a smoother transfer, as quantified by changes in completion time of a ball-positioning task. During training, both groups adapted well to the task, with reductions of 64%-70% in completion time. At skill transfer to the real system, the vision-only group had a significant 35% increase in completion time (p < 0.05). There was no significant change in the vision-haptics group, indicating that subjects had learned to compensate for interaction forces. These forces could potentially be incorporated in virtual environments to assist with motor training or rehabilitation.

Adaptation, Physiological↗

PubMed2005

Sharing control between humans and automation using haptic interface: primary and secondary task performance benefits.

This paper describes a paradigm for human/automation control sharing in which the automation acts through a motor coupled to a machine's manual control interface. The manual interface becomes a haptic display, continually informing the human about automation actions. While monitoring by feel, users may choose either to conform to the automation or override it and express their own control intentions. This paper's objective is to demonstrate that adding automation through haptic display can be used not only to improve performance on a primary task but also to reduce perceptual demands or free attention for a secondary task. Results are presented from three experiments in which 11 participants completed a lane-following task using a motorized steering wheel on a fixed-base driving simulator. The automation behaved like a copilot, assisting with lane following by applying torques to the steering wheel. Results indicate that haptic assist improves lane following by least 30%, p < .0001, while reducing visual demand by 29%, p < .0001, or improving reaction time in a secondary tone localization task by 18 ms, p = .0009. Potential applications of this research include the design of automation interfaces based on haptics that support human/automation control sharing better than traditional push-button automation interfaces.

Analysis of Variance↗