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At least 19 recordsLinked to original sources
PubMed2004

Online learning of virtual impedance parameters in non-contact impedance control using neural networks.

Impedance control is one of the most effective methods for controlling the interaction between a manipulator and a task environment. In conventional impedance control methods, however, the manipulator cannot be controlled until the end-effector contacts task environments. A noncontact impedance control method has been proposed to resolve such a problem. This method on only can regulate the end-point impedance, but also the virtual impedance that works between the manipulator and the environment by using visual information. This paper proposes a learning method using neural networks to regulate the virtual impedance parameters according to a given task. The validity of the proposed method was verified through computer simulations and experiments with a multijoint robotic manipulator.

Algorithms↗
PubMed2000

Tremor suppression through impedance control.

This paper presents a method for designing tremor suppression systems that achieve a specified reduction in pathological tremor power through controlling the impedance of the human-machine interface. Position, rate, and acceleration feedback are examined and two techniques for the selection of feedback coefficients are discussed. Both techniques seek a desired closed-loop human-machine frequency response and require the development of open-loop human-machine models through system identification. The design techniques were used to develop a tremor suppression system that was subsequently evaluated using human subjects. It is concluded that nonadaptive tremor suppression systems that utilize impedance control to achieve a specified reduction in tremor power can be successfully designed when accurate open-loop human-machine models are available.

Acceleration↗
PubMed1997

Model Predictive Impedance Control: A Model for Joint Movement.

Impedance control has been suggested as the strategy employed by the central nervous system to control human postures and movements. A realization of this strategy is presented that uses a model predictive control algorithm as a higher motor controller. External disturbances are explicitly included in the model. The combination of 3 key factors-joint impedance control, model predictive controller, and external disturbance input-forms the basis for the generality of this model. The model was applied to 3 different types of joint movements: a tracking movement with an unpredicted disturbance, a rhythmic movement, and an unstable biped model of human walking. Computer simulation results showed excellent performance of the model in all 3 cases for optimal values of active joint impedances and an exact match between the musculoskeletal system and the model internal to the model predictive controller. The controller was also able to maintain acceptable performance in the presence of a 25% mismatch between the musculoskeletal system and its internal model.

equilibrium-point hypothesis↗
PubMed2003

[Radiofrequency ablation ex vivo: comparison of the efficacy of impedance control mode versus manual control mode by using an internally cooled clustered electrode].

PURPOSE: To compare the effectiveness of pulsed (impedance control mode) and non-pulsed (manual control mode) radiofrequency ablation (RFA) by using an internal cooled-clustered electrode. MATERIALS AND METHODS: Ex vivo RF ablations (n = 93) were performed with a 200 W RF generator (Model-Cooled Tip, Radionics, USA) in 10 bovine livers, using the impedance and manual control mode. In the impedance control mode, the generator automatically adjusted the applied RF power to the tissue impedance measured during RF ablation. In the manual control mode, the application of the RF power was constant. Both applications were investigated in a capacity range between 5 and 200 W. The duration for each RF ablation was between 2 and 60 minutes. After RF ablation, the short axis diameter of the necrosis was determined macroscopically and the peripheral zone of the necrosis histologically. RESULTS: The impedance control mode produced lesions with short axis diameters of 5.3 +/- 0.3 cm at a power of 200 W after 60 minutes of RF ablation and the manual control mode lesions with short axis diameters of 4.1 +/- 0.4 cm at a power of 70 W after 8 +/- 2 minutes of RF ablation. The impedance control mode increased significantly the time of RF ablation with higher power and the size of necrosis (p < 0.01). CONCLUSION: In comparison to non-pulsed RF ablation, pulsed RF ablation with internal cooled-clustered electrodes significantly increases the size of the lesions and represents a methodical optimization in our opinion.

Animals↗
PubMed2002

Pilot study of impedance-controlled microcurrent therapy for managing radiation-induced fibrosis in head-and-neck cancer patients.

PURPOSE: To evaluate the effectiveness of impedance-controlled microcurrent therapy for managing treatment sequelae in head-and-neck cancer patients. METHODS AND MATERIALS: Between January 1998 and June 1999, 26 patients who were experiencing late effects of radiotherapy were treated b.i.d. with impedance-controlled microcurrent therapy for 1 week. Objective range-of-motion measurements were made for cervical rotation, extension/flexion, and lateral flexion before therapy, at the end of each treatment day, and monthly for 3 months. In addition, each patient's subjective complaints were tabulated before treatment and reevaluated at the last follow-up visit. No additional physical therapy or electrical stimulation was permitted during the follow-up period. RESULTS: At the end of the course of microcurrent therapy, 92% of the 26 patients exhibited improved cervical rotation, 85% had improved cervical extension/flexion, and 81% had improved cervical lateral flexion. Twenty-two patients returned for the 3-month follow-up visit. Of these, 91% had maintained a cervical rotation range of motion greater than their pretherapy measurements. Eighty-two percent maintained improved cervical extension/flexion and 77% maintained improved lateral flexion. When the range-of-motion measurements were stratified by pretreatment severity (severe, moderate, mild, or asymptomatic), the degree of improvement directly correlated with the severity. Thus, patients who had more severe initial symptoms experienced a higher percentage of improvement than did those with milder symptoms. For these patients, the cervical rotation range of motion changed from a baseline of 59 degrees +/- 12 degrees to 83 degrees +/- 14 degrees at 3 months; flexion/extension improved from 47 degrees +/- 10 degrees to 73 degrees +/- 13 degrees; and lateral flexion went from 31 degrees +/- 7 degrees to 48 degrees +/- 9 degrees. Some patients also reported symptom improvement for tongue mobility, facial asymmetry, xerostomia, cervical/facial muscle spasms, trismus, and soft tissue tenderness. No adverse effects were observed. CONCLUSION: Impedance-controlled microcurrent therapy shows promise for remediation of range-of-motion limitations arising as late effects of radiotherapy for head-and-neck cancer. Additional studies are needed to validate these preliminary results and to optimize the microcurrent treatment protocol, particularly with respect to treatment schedules and combining microcurrent therapy with physical and/or drug therapy.

Adult↗
PubMed2006

Radiofrequency ablation of osteoid osteoma with cooled probes and impedance-control energy delivery.

OBJECTIVE: Our objective was to evaluate the efficacy of percutaneous radiofrequency ablation of osteoid osteoma with cooled radiofrequency probes and impedance control energy delivery from a 200-W generator. We also compared the outcome to published data for therapy with a 5-mm noncooled probe and temperature-controlled short-duration therapy protocols. SUBJECTS AND METHODS: Radiofrequency ablation was performed on 11 patients with a clinical and radiologic diagnosis of osteoid osteoma. A cooled radiofrequency probe was introduced into the lesion under CT guidance. Twelve minutes of radiofrequency energy was delivered from a 200-W generator under impedance control. Postprocedural pain, function, and satisfaction were evaluated by means of an interview and questionnaire. RESULTS: All procedures were technically successful. No serious complication occurred. Postoperative pain was scored at a mean of 6.9 +/- 3.06 (95% confidence interval) on a numeric rating scale. Postoperative pain was rated as similar to night pain. By 1 week after therapy, all patients had resolution of pain and returned to normal activity. There was no recurrence during the follow-up period (range, 6-27 months; mean, 14.4 months). Patients rated their satisfaction as high. CONCLUSION: Radiofrequency ablation of osteoid osteoma with a high-energy delivery technique is safe and has a high success rate. When compared with patients in a published series using 5-mm probes and manual energy control from lower-output generators, our cohort showed increased postoperative pain scores and an increased interval to symptom resolution.

Adolescent↗
PubMed2003

Adaptation to stable and unstable dynamics achieved by combined impedance control and inverse dynamics model.

This study compared adaptation in novel force fields where trajectories were initially either stable or unstable to elucidate the processes of learning novel skills and adapting to new environments. Subjects learned to move in a null force field (NF), which was unexpectedly changed either to a velocity-dependent force field (VF), which resulted in perturbed but stable hand trajectories, or a position-dependent divergent force field (DF), which resulted in unstable trajectories. With practice, subjects learned to compensate for the perturbations produced by both force fields. Adaptation was characterized by an initial increase in the activation of all muscles followed by a gradual reduction. The time course of the increase in activation was correlated with a reduction in hand-path error for the DF but not for the VF. Adaptation to the VF could have been achieved solely by formation of an inverse dynamics model and adaptation to the DF solely by impedance control. However, indices of learning, such as hand-path error, joint torque, and electromyographic activation and deactivation suggest that the CNS combined these processes during adaptation to both force fields. Our results suggest that during the early phase of learning there is an increase in endpoint stiffness that serves to reduce hand-path error and provides additional stability, regardless of whether the dynamics are stable or unstable. We suggest that the motor control system utilizes an inverse dynamics model to learn the mean dynamics and an impedance controller to assist in the formation of the inverse dynamics model and to generate needed stability.

Adaptation, Physiological↗
PubMed2006

MRI features after radiofrequency ablation of osteoid osteoma with cooled probes and impedance-control energy delivery.

OBJECTIVE: The purposes of our study were to determine the temporal changes in MR signal in bone after radiofrequency ablation of osteoid osteoma and the size of the zone of marrow signal change produced by the radiofrequency technique and to compare the size of the zone with published data for radiofrequency ablation with manual-control protocols. MATERIALS AND METHODS: Radiofrequency ablation was performed in 10 patients with a clinical and radiologic diagnosis of osteoid osteoma. A cooled radiofrequency probe was inserted in the nidus. Twelve minutes of radiofrequency energy was applied from a 200-W radiofrequency generator in an impedance-control setting. MRI with multiplanar turbo spin-echo T1-weighted and STIR sequences was performed at 1, 7, and 28 days after the procedure in seven patients. The three remaining patients had follow-up imaging at 28 days only. The images were reviewed by two radiologists who categorized the imaging features and measured the marrow zone of signal alteration when visible. The size of the zone of marrow signal change produced by the radiofrequency technique was compared with published data for radiofrequency ablation with manual-control protocols. RESULTS: A 1-mm band of homogeneous altered marrow signal distributed symmetrically parallel to the entire probe tract was seen earliest, at 1 day, in the femoral neck lesion treated with the 2-cm probe. The band was low signal on the T1 sequence and high signal on the STIR sequence, and the diameter of the zone was 27 mm. By 7 days, five of the seven treated bones showed a band of marrow signal alteration. By 28 days, all 10 treated bones had a band of marrow signal alteration. The interband distance at 90 degrees to the probe measured on STIR images at 28 days was a mean of 20.9 mm (confidence interval, 16.1-25.7 mm [p < 0.05]; range +/- measurement error, 10.5-35 +/- 1.64 mm) with a 1-cm probe and 30.5 mm (measurement error, +/- 0.78 mm) on T1 images without contrast material when a 2-cm exposed-tip probe was used. Higher-output generators with impedance-control software and internally cooled radiofrequency probes with longer exposed tips produce larger zones of marrow signal change than expected with manual-control protocols. CONCLUSION: MRI allows detection of temporal marrow signal change after radiofrequency ablation. The marrow signal change with a high-energy delivery protocol is larger than manual-control protocols.

Adolescent↗
PubMed2003

Percutaneous treatment of liver tumors with an adapted probe for cooled-tip, impedance-controlled radio-frequency ablation under open-magnet MR guidance: initial results.

Percutaneous radio-frequency (RF) ablation of liver tumors is usually performed under guidance of real-time US, but some tumor nodules in some patients cannot be adequately visualized with this technique. We report our preliminary results with an MR-compatible, internally perfused 17-G RF probe adapted to a standard RF generator for impedance-controlled RF ablation under MR guidance. Following initial testing of the probe for MR compatibility, artifacts and macroscopic effects on an ex vivo pig liver, four patients with eight neoplastic liver nodules (five metastatic and three primary), which could not be properly targeted by US, were treated with the cooled-tip technique under MRI guidance in an open 0.23-T magnet. Metallic artifacts produced by the probe were useful for accurate placement and did not interfere with MRI monitoring at the end of the procedure. Based on imaging findings, the immediate result of RF was considered adequate in all instances. Local recurrence occurred in one instance after 6 months, requiring repeat treatment. No adverse effects were noted. Initial experience suggests that the probe we used allows to perform impedance-controlled cooled-tip RF ablation of liver tumors under open-magnet MR guidance.

Adult↗
PubMed2000

Synthesis of a digitally controlled impedance element.

A practical design for the synthesis of a digitally controlled electrical impedance element is presented. The impedance element comprises a real impedance element in series with a voltage source whose magnitude is determined by the applied voltage multiplied by a factor k. The value of k is shown strongly to affect the circuit's performance. Results are presented which demonstrate the correspondence between circuit models and practical measurements. When negative values for k were employed the circuit element offered a controlled impedance range of 1:1000 and was stable to at least 1.5 MHz, providing that low source impedance values were used. With a positive k, a restricted range of impedance values could be obtained and the value of source impedance was less critical, though the circuit's performance was acceptable only to about 100 kHz. Consideration is given to the specification of a multiplier that would permit the circuit's range of application to be extended to low megahertz frequencies.

Electric Impedance↗
PubMed2001

Prospective randomized comparison of impedance-controlled auto-continuous positive airway pressure (APAP(FOT)) with constant CPAP.

Background: The measurement of impedance permits reliable detection of obstructive apneas, hypopneas and upper airways resistance syndrome.Objective: To establish whether impedance-controlled self-adjusting positive airway pressure therapy (APAP(FOT)) is equally as good as constant continuous positive airway pressure (CPAP) in the treatment of sleep apnea syndrome (OSAS).Methods: Twenty men and five women with OSAS (age 52.8+/-9.0 years, body mass index (BMI) 31.4+/-5.0 kg/m(2), AHI 32.2+/-18.1/h (mean+/-SD)) underwent baseline polysomnography, manual CPAP titration and two nights of treatment, one with APAP(FOT), one with constant CPAP.Results: With both modes, a significant reduction in respiratory disturbances was seen (apnea/hypopnea index (AHI) baseline 32.2+/-18.1/h, constant CPAP 6.6+/-8.7, APAP(FOT) 5.5+/-3.8/h, P<0.001 baseline vs. each treatment mode). Under APAP(FOT), the sleep profile was normalized (S3/4 baseline 16.3+/-13.9% total sleep time (TST), APAP(FOT) 21.6+/-10.9% TST, P<0.05, rapid eye movement (REM) 14.2+/-6.7% TST vs. 20.3+/-7.3% TST, P<0.01), while with constant CPAP, a tendency towards improvement was found. The mean treatment pressure with APAP(FOT) was significantly lower than the constant CPAP (5.7+/-2.1 vs. 8.3+/-1.6 mbar, P<0.001).Conclusion: We conclude that APAP(FOT) is at least as effective as constant CPAP in normalizing sleep and breathing in OSAS.

Journal Article↗
PubMedDate not supplied

Use of the NovaSure Impedance Controlled Endometrial Ablation System in patients with intracavitary disease: 12-month follow-up results of a prospective, single-arm clinical study.

STUDY OBJECTIVE: To assess the safety and effectiveness of the NovaSure Impedance Controlled Endometrial Ablation System for the treatment of excessive uterine bleeding in premenopausal and postmenopausal women with intracavitary disease (polyps or myomas) up to 3 cm. DESIGN: Prospective, single-arm study. (Canadian Task Force Classification II-2.) SETTING: Academic medical center. PATIENTS: This clinical study was conducted in 65 women with menometrorrhagia with confirmed (type I and II) submucous myomas up to 3 cm with and without polyps. INTERVENTION: Patients were treated with the NovaSure System and received no hormonal or mechanical pretreatment to thin the endometrial lining or as a uterine pathologic condition shrinking agent. MEASUREMENTS AND MAIN RESULTS: All patients were diagnosed with intracavitary disease during office hysteroscopy. Patients completed menstrual questionnaires at the initial screening and at 1 year after treatment. Twelve-month results demonstrated that the NovaSure System was effective in reducing excessive uterine blood loss. Success (defined as reduction to normal bleeding) was observed in 95% (95% CI: 86%-99%) of patients, with 69% (95% CI: 56%-80%) reporting amenorrhea at 1 year after treatment. The median treatment time (time of energy delivery) was 78 seconds (range 61-120 seconds). All patients underwent the procedure under local or intravenous sedation. No intraoperative or postoperative adverse events were reported. There was a significant decrease in premenstrual symptoms and dysmenorrhea at 12 months after the procedure. Ninety-five percent (95% CI: 86%-99%) of patients were satisfied with the procedure. CONCLUSION: Clinical results of this study demonstrate that the NovaSure System is safe and effective in treatment of patients with menometrorrhagia caused by intracavitary disease up to 3 cm.

Adult↗
PubMed2005

Pathology of the NovaSure (radio-frequency) impedance-controlled endometrial ablation system.

The widespread use of increasingly novel diagnostic and neoadjuvant therapeutic modalities necessitates that contemporary pathologists familiarize themselves with the spectrum of tissue derangements that may be seen in the eventual surgical specimens. In the management of endometrial lesions, for example, a variety of endometrial ablation technologies, such as cryosurgery, balloon therapy, microwave, hot circulating saline, and bipolar impedance technology, have been introduced in the past decade and are being utilized with increasing frequency. We describe herein pathologic changes associated with one such technology, the NovaSure impedance-controlled endometrial ablation system. The US Food and Drug Administration approved NovaSure in 2001 for ablation of the endometrial lining in premenopausal women with menorrhagia. The ablation is accomplished by the delivery of radio-frequency energy for a period of approximately 90 seconds through a device inserted transcervically into the endometrial cavity. Our patient, a 54-year-old with menorrhagia, had undergone the NovaSure ablative treatment 38 days prior to her eventual hysterectomy. The resultant changes were quite distinctive: in a uterine wall that was 20 to 30 mm thick, a 3- to 6-mm-thick, hyalinized, subendometrial bandlike zone was apparent throughout the uterus even on macroscopic examination of the slides. This zone was sharply demarcated from the subjacent myometrium and from the endometrium; the latter displayed severe stromal fibrosis, some myxoid change, and sparse glands that were largely confined to the basalis. Paradoxically, scattered aggregates of stromal cells in the endometrium remained relatively viable. Adenomyotic aggregates and leiomyomata in the myometrium beneath the hyalinized zone were unaffected by this treatment. Practitioners evaluating hysterectomy specimens should be aware of changes such as those described herein, not only to better understand the specimens they evaluate but to avoid potentially misinterpreting grotesque alterations caused by benign processes.

Catheter Ablation↗
PubMed2004

Optimal impedance control for task achievement in the presence of signal-dependent noise.

There is an infinity of impedance parameter values, and thus different co-contraction levels, that can produce similar movement kinematics from which the CNS must select one. Although signal-dependent noise (SDN) predicts larger motor-command variability during higher co-contraction, the relationship between impedance and task performance is not theoretically obvious and thus was examined here. Subjects made goal-directed, single-joint elbow movements to either move naturally to different target sizes or voluntarily co-contract at different levels. Stiffness was estimated as the weighted summation of rectified EMG signals through the index of muscle co-contraction around the joint (IMCJ) proposed previously. When subjects made movements to targets of different sizes, IMCJ increased with the accuracy requirements, leading to reduced endpoint deviations. Therefore without the need for great accuracy, subjects accepted worse performance with lower co-contraction. When subjects were asked to increase co-contraction, the variability of EMG and torque both increased, suggesting that noise in the neuromotor command increased with muscle activation. In contrast, the final positional error was smallest for the highest IMCJ level. Although co-contraction increases the motor-command noise, the effect of this noise on the task performance is reduced. Subjects were able to regulate their impedance and control endpoint variance as the task requirements changed, and they did not voluntarily select the high impedance that generated the minimum endpoint error. These data contradict predictions of the SDN-based theory, which postulates minimization of only endpoint variance and thus require its revision.

Adult↗
PubMed2004

Impedance control balances stability with metabolically costly muscle activation.

Humans are able to stabilize their movements in environments with unstable dynamics by selectively modifying arm impedance independently of force and torque. We further investigated adaptation to unstable dynamics to determine whether the CNS maintains a constant overall level of stability as the instability of the environmental dynamics is varied. Subjects performed reaching movements in unstable force fields of varying strength, generated by a robotic manipulator. Although the force fields disrupted the initial movements, subjects were able to adapt to the novel dynamics and learned to produce straight trajectories. After adaptation, the endpoint stiffness of the arm was measured at the midpoint of the movement. The stiffness had been selectively modified in the direction of the instability. The stiffness in the stable direction was relatively unchanged from that measured during movements in a null force field prior to exposure to the unstable force field. This impedance modification was achieved without changes in force and torque. The overall stiffness of the arm and environment in the direction of instability was adapted to the force field strength such that it remained equivalent to that of the null force field. This suggests that the CNS attempts both to maintain a minimum level of stability and minimize energy expenditure.

Arm↗
PubMed2005

Impedance control and internal model use during the initial stage of adaptation to novel dynamics in humans.

This study investigated the neuromuscular mechanisms underlying the initial stage of adaptation to novel dynamics. A destabilizing velocity-dependent force field (VF) was introduced for sets of three consecutive trials. Between sets a random number of 4-8 null field trials were interposed, where the VF was inactivated. This prevented subjects from learning the novel dynamics, making it possible to repeatedly recreate the initial adaptive response. We were able to investigate detailed changes in neural control between the first, second and third VF trials. We identified two feedforward control mechanisms, which were initiated on the second VF trial and resulted in a 50% reduction in the hand path error. Responses to disturbances encountered on the first VF trial were feedback in nature, i.e. reflexes and voluntary correction of errors. However, on the second VF trial, muscle activation patterns were modified in anticipation of the effects of the force field. Feedforward cocontraction of all muscles was used to increase the viscoelastic impedance of the arm. While stiffening the arm, subjects also exerted a lateral force to counteract the perturbing effect of the force field. These anticipatory actions indicate that the central nervous system responds rapidly to counteract hitherto unfamiliar disturbances by a combination of increased viscoelastic impedance and formation of a crude internal dynamics model.

Adaptation, Physiological↗
PubMed2004

Force reflecting teleoperation with adaptive impedance control.

Experimentation and a survey of the literature clearly show that contact stability in a force reflecting teleoperation system requires high levels of damping on the master robot. However, excessive damping increases the energy required by an operator for commanding motion. The objective of this paper is to describe a new force reflecting teleoperation methodology that reduces operator energy requirements without sacrificing stability. We begin by describing a new approach to modeling and identifying the remote environment of the teleoperation system. We combine a conventional multi-input, multi-output recursive least squares (MIMO-RLS) system identification, identifying in real-time the remote environment impedance, with a discretized representation of the remote environment. This methodology generates a time-varying, position-dependent representation of the remote environment dynamics. Next, we adapt the target impedance of the master robot with respect to the dynamic model of the remote environment. The environment estimation and impedance adaptation are executed simultaneously and in real time. We demonstrate, through experimentation, that this approach significantly reduces the energy required by an operator to execute remote tasks while simultaneously providing sufficient damping to ensure contact stability.

Computer Simulation↗