Biorobotics: an Instrument for an Improved Quality of Life.

An Application for the Analysis of Neuromotor Diseases

BIBI ABIDA

Abstract

This paper deals with the developed researches of biorobotics, as an instrument for the maintenance of the quality of human senses, complete control of the nervous system, activation of neuron circuits, recovery of damaged neuromotor functions, rehabilitation of vocal chords, and neuromotor system control following devastating diseases such as Parkinson’s and Alzheimer’s.An application of biorobotics is here presented: DDX is an experimental biorobotic system designed to acquire and provide data about human finger movement, applied in the analysis of neural disturbances with quantitative evaluation of both response times and dynamic action of the patient. The goal of the biorobotic system is to measure the response parameters of a person in front of a “soft touch”, made by his finger in front of a button. It is now applied in daily clinical activity to diagnose the progression of the Parkinson pathology.

Keywords: biorobotics, safety, robotics, medical robotics

1 IntroductionThis paper deals with the Disease Detector 3 (DD3) that is a fuzzy-based control system for detection of Parkinson disease.Today soft computing techniques are used in many application areas thanks to the evolutionary capabilities of computer technologies. On the other side the development of internet and satellite communications makes remote diagnosis about people health very useful and interesting. It could be possible to check people state of health while they are living their normal life faraway from hospital.Actual techniques cannot be easier portable, even if they are very reliable. Here, Fuzzy Logic is exploited in order to obtain an intelligent and reliable detector supported by a very small and portable machine such as a simple joystick with a few buttons, an LCD display and a simple interface for remote communication of diagnosisThe control system consists of a small board with an internal fuzzy micro controller capable of acquiring, through the joystick, the well known three basic parameters (reaction, speed and force) in order to detect the state of health and perform them by fuzzy rules. The resulting output can be visualized through a display or transmitted by a communication interface.A prototype has been developed (Fig.1) and it has been experimented in many test. It is also patented all over the world.

2 Concepts of bioroboticsBiorobotics is a new scientific and technological area, created from a combination of mechanics, electronics and IT with biology, capable of offering unforeseeable diagnostic and therapeutic instruments, not only within the healthcare framework but also for an improved quality of life. The reciprocal sharing of knowledge enables one to evaluate the

actual importance of each single reality, the possibility of using results through elimination of all mental, logic or behavioural blockages.

Maintenance of the quality of human senses, complete control of the nervous system, activation of neuron circuits, the development and healing of complex brain functions, action of the cerebellum, amygdale activity, recovery of damaged neuromotor functions, rehabilitation of vocal chords, and neuromotor system control following devastating diseases such as Parkinson’s and Alzheimer’s are just some of the scientific developments linked to biology and biorobotics.Medical biorobotics has demonstrated that it is possible to perform surgery not only safely and with great precision

3 Biorobotics and researchAbout twenty years ago our laboratory developed a robotic hand and a voice- controlled robot. In 1985, we also developed a bionic prosthesis with electronic control incorporated in an artificial limb. Five years ago we developed a dummy for cardiac simulation purposes, and data acquisition systems involving neuromotor control which, thanks to biorobotics, have now become a major European project (the operating system is shown in figure 1). Thanks to remote-control in telerobotics, we have been able to study the influence of distance on the actions of human control and sensory retroaction. Based on the experience acquired, we can affirm that biorobotics is set to initiate an open, transparent and positive relationship with medicine, and with biology in particular.Additionally, it will benefit all sciences targeted at quality of life, treatment of the human and non-human body, and knowledge of cells and vital functions.

Fig. 1 - Biorobotic system with microchip and the use of fuzzy logic, with the evaluation of neuromotor performance for application in the diagnosis and cure of Parkinson’s disease.

Nowadays, thanks not only to the wisdom of knowledge and science, but also the constant development of new schools of thought and various initiatives, man’s sense of the divine is becoming increasingly mysterious.

4 Applicative solution : DDX systemToday, thanks to the evolutionary capabilities of computer technologies, soft computing techniques are used in many application areas. On the other hand, the development of internet and satellite communications makes remote health diagnosis very useful and interesting. It could be possible to check individual states of health whilst they are leading their normal lives faraway from hospital structures.DDX is an experimental biorobotic system designed to acquire and provide data about human finger movement, applied in the analysis of neural disturbances with quantitative evaluation of both response times and dynamic action of the patient. The goal of the

biorobotic system is to measure the response parameters of a person in front of a “soft touch”, made by his finger in front of a button. It is now applied in daily clinical activity to diagnose the progression of the Parkinson pathology.Robotic premises involved in the DDX biorobotic system development are:- use of the basic concepts of multifinger robotic hand.- adoption of robotic control fundamentals in the software of the first mechanical hand; - integration of mechanical principles in biology from the determination of the biocontrol

of the system; - use of biorobotic principles together with robotic loop

in the human and mechanical finger motion.Figure 2 shows a human hand (on the right) which control a robotic hand (on the left): the basic principles of DDX for the measurement of reaction time of the person in fron of a control signal are performed.The biorobotic concepts are involved :- in the design of the biorobotic device, which is included in a biofeedback circuit, made

by some sensors, a computer and the human person with the motion of his finger;

Figure 2 - A human hand (on the right) is controlling a robotic hand (on the left)

- in the measurement of force, velocity and power, for the performance evaluation; - in the principle of external and internal sensors in the biorobotic device, which integrates

the human hand action and the brain activity in the electronic circuit of the system.

5 Software Development of DDX

The target is the realization of a portable, user-friendly biorobotic system, like a mobile

phone, with more efficient diagnostic results in order to gain advantages compared to existing detection systems. The ability to hold the joystick with a single hand is the fundamental aspect of this system.

6 Protocols for the measurementThe protocols for a “soft touch” of the biorobotic miniaturized system are two:- Fast Movement: the person must press the push-button as quickly as possible, thus measuring the instant of "initial pressure" and, at the end of the run, measures the soft touch force and the moment of test end. In this way the speed, the force and the time of reaction can be found. - Virtual Movement: on a display, the person is asked to follow a virtual image relating to each moment of the test: initial pressure, race end and the pressure used in the hit are acquired identically to the previous protocol. This choice is also ideal for detecting tremor - a typical characteristic of many subjects affected by Parkinson’s disease. A patient’s state of health may be tested daily.

7 Technical architecture of the working system DDXParameters are acquired from the button, these are: reaction time (defined as the delay time from acoustic signal of buzzer to the starting of pressure), speed (calculated from the starting point to the end point hitting the button), force (by using a strain gauge) and time delay of voice response.The tremor sensor is a sensor which measures vibrations of the wrist of the hand and is located inside the joystick in order to amplify the patient motion. Initially, the processor transmits an impulse (like an attention warning) to the buzzer and the timer starts.It begins the sampling and after a random interval, sends another impulse to the buzzer (in order to obtain the start warning trials). The value of the timer is stored as variable tj. When the patient has pressed the push -button this sends the beacon of beginning pressure, and the value of the timer is assigned to variable ti. This time is what we call the reaction time. At the end of the movement stroke, a beacon signifying race-end is sent, and the value of the timer is assigned as variable tf. The speed of patient motion can be calculated from these times. When the stroke ends, the pressure is calculated using a simple circuit based on a strain gauge, a filter, an amplifier, and an A/D converter. Tremor is acquired by a simple routine which reads data from the switching accelerometer on an I/O pin.In order to avoid putting patients off, the color scheme has been altered accordingly.Even if, generally speaking, the design study is the last part of a typical project, in this case it is developed in parallel to the electronic system.

8 Biocontrol and biofeedback circuitFigure 3 schematically shows how the biorobotic system assesses a disease in terms of kinematics parameters.

Figure 3 Description of the biorobotic system

The same functions for each fuzzy set (reaction time, speed and force) have been used, they are: low, medium-low, medium, medium-fast, fast.Disease advancement is obtained by processing fuzzy rules in relation to tremor information, acquired by applying a different set of fuzzy rules to tremor data.The block (1) is the press button. This is the input patient interface and its function is to capture indirectly three basic pieces of diagnostic information: response time, speed and finger-tip pressure. Essentially, it captures the start time of button pressure, its end time, and the force employed (using a strain gauge).The analogue force signal is first amplified in block (2), after it is filtered by block (3), and then converted in 8-bit digital form by block (4). All three data are collated from block (6) which is the heart of the system, and directs information flow to, and between, peripherals. Blocks (5,8) represent the medical operator interface for giving commands reading outputs. Block (6) manages all information and stores it in block (11) if necessary. Tremor is also measured by a very cheap switch accelerometer known as a “Tremor Sensor”.Block (10) applies fuzzy rules to acquired data and returns diagnostic results to a display (5). The audio unit, composed of a simple buzzer, is used to synchronize patient actions in relation to the kind of test. The control system of the biorobotic DDX consists of a small board with an internal fuzzy micro-controller capable of acquiring (by means of the joystick) the basic parameters (reaction, speed, force of the finger and voice response) in order to detect state of health, enacting them according to fuzzy rules. The resulting output may be consulted by means of a display, or transmitted via communication interface.

9 Electronic circuitThe electronic circuit is composed of:• a digital display LCD (twelve characters in two columns), • four keys for managing a menu navigator similar to that of a mobile phone menu, • an OK key to confirm, • a menu key in order to return to the main menu, • a buzzer for the acoustic beep, • a load cell by strain gauges with its amplifier. By pressing the button three beacons are sent:• Start pressure beacon • Race-end beacon

• Force beacon

10 AdvantagesWith these basic fundamentals, we present an innovative biorobotic system for Parkinson’s disease detection, with systems of detection reliable and portable.The solution proposed, using principles of biorobotics, offers the advantages of portability without any loss of diagnosis efficiency.Also provided is an ability to transfer diagnoses through a remote communication interface in order to monitor daily the state of health of a patient.The system is an intelligent biorobotic system based on soft computing techniques and, as such, its efficiency may be improved via extended function calibration or by improving response correctness with self-learning techniques.The biorobotic system is also carrying a word recognition block in order to improve its functionality and efficiency.

ConclusionThe system is an intelligent biorobotic system based on soft computing techniques and, as such, its efficiency maybe improved via extended function calibration or by improving response correctness with self-learning techniques. Daphne device allows to obtain a quantitative and exact measure of the neuromotor health condition of a person and of it reflects very well the psychological condition.The application to the diagnosis of the Parkinson’s disease was the first result of this system.

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