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Possible applications are considered of a master-sleeve teleoperator arm system, developed in exoskeletal space suit technology, as therapeutic aid, orthotic device, or for therapy on patients with neurological disorders.
Functional descriptions are provided for a number of cybernetic man machine systems that augment the capacity of normal human beings in the areas of strength, reach or physical size, and environmental interaction, and that are also applicable to aiding the neurologically handicapped. Teleoperators, computer control, exoskeletal devices, quadruped vehicles, space maintenance systems, and communications equipment are considered.
The general features and the controlling programs for a robot are explained, and its possible extension as aid to the neurologically handicapped is projected.
The neurological control systems for the eye and head are studied by investigating dynamic eye and head rotations in two degrees of freedom using bandlimited, white noise stimuli, nominally wide field of view stimulus presentations of + or - 10 deg and power spectral analysis of the data to produce input/output transfer and coherence functions. Determined were frequency response characteristics of these systems, the linearity of the transfer functions in both coupled and decoupled vertical and horizontal stimulus/response reference axes and the amount of cross axis coupling present in system responses. A comparative study was also conducted to assess the differences in response characteristics between single axis and dual axis visual stimulation for the same subject.
Weightlessness, rotating environment, and mathematical analysis of Coriolis acceleration is described for man's biological effective force environments. Effects on the vestibular system are summarized, including the end organs, functional neurology, and input-output relations. Ground-based studies in preparation for space missions are examined, including functional tests, provocative tests, adaptive capacity tests, simulation studies, and antimotion sickness.
Human physiological changes are outlined which occur in a space environment. It is shown that flexibility and adaptability are keys to maximizing neurological and body-functions for purposes of life support and health under reduced gravity conditions. Controlled manipulation of gravity in a space environment could reduce some aging problems by delaying the physical collapse of the skeleton, the cardiovascular system, and of tissues and organs.
Eight cases of Shy-Drager syndrome and three of Bradbury-Eggleston idiopathic orthostatic hypotension were examined. In all cases, examination of circulatory reflexes showed major dysfunction of the sympathetic vasoconstrictor system. Anomalies in the vagal cardiomoderator system were less constant. Normal urinary elimination of catecholamines was recorded daily. Characteristically, no elevation of blood or urine norepinephrine levels were found in orthostatism. Insulin hypoglycemia normally raised urinary adrenalin elimination in three of ten patients. Plasma dopa-beta-hydroxylase activity was normal. Renin-angiotensin-aldosterone system showed variable activity at basal state but usually rose during orthostatism. On the average, very low homovanillic acid levels were found in cerebrospinal fluid before and after probenecid; hydroxyindolacetic acid was normal. Cerebral autoregulation had deteriorated in two of four cases. Physiopathologically the two clinical types are indistinguishable with or without central neurological signs.
Ongoing projects described address: (1) intracranial pressure monitoring; (2) versatile portable speech prosthesis; (3) cardiovascular magnetic measurements; (4) improved EMG biotelemetry for pediatrics; (5) ultrasonic kidney stone disintegration; (6) pediatric roentgen densitometry; (7) X-ray spatial frequency multiplexing; (8) mechanical impedance determination of bone strength; (9) visual-to-tactile mobility aid for the blind; (10) Purkinje image eyetracker and stabilized photocoalqulator; (11) neurological applications of NASA-SRI eyetracker; (12) ICU synthesized speech alarm; (13) NANOPHOR: microelectrophoresis instrument; (14) WRISTCOM: tactile communication system for the deaf-blind; (15) medical applications of NASA liquid-circulating garments; and (16) hip prosthesis with biotelemetry. Potential transfer projects include a person-portable versatile speech prosthesis, a critical care transport sytem, a clinical information system for cardiology, a programmable biofeedback orthosis for scoliosis a pediatric long-bone reconstruction, and spinal immobilization apparatus.
The status of an effort to define the directions needed to take in extending pilot models is reported. These models are needed to perform closed-loop (man-in-the-loop) feedback flight control system designs and to develop cockpit display requirements. The approach taken is to develop a hypothetical working model of the human nervous system by reviewing the current literature in neurology and psychology and to develop a computer model of this hypothetical working model.
Speculations concerning the probable consequences of exposure to weightlessness during periods of one year or more and how these effects compare with aging are made. Orthostatic and excercise intolerance, neurological and muscular effects, cell division and DNA synthesis, tissue hypoxia, and edema are discussed in reference to the in-space and return-to-Earth situations.
Animal irradiations, behavioral studies, neurological studies, and nuclear medicine studies are discussed.
Visual fixation can be maintained in spite of finger pressure on the monocularly viewing eye. The amount of extraocular muscle effort required to counter the eyepress is measured as the secondary deviation of the occluded fellow eye. Using this method, without drugs or neurological lesions, it is shown that corollary discharge (CD) governs perception of position of a luminous point in darkness, that is, an unstructured visual field. CD also controls visuomotor coordination measured with open-loop pointing and the matching of visual and auditory direction in light and in darkness. The incorrectly biased CD is superseded by visual position perception in normal structured environments, a phenomenon called visual capture of Matin. When the structured visual field is extinguished, leaving only a luminous point, gradual release from visual capture and return to the biased CD direction follows after a delay of about 5 sec.
Quantitative measurements of horizontal head rotation were obtained from normal human subjects intending to make 'time optimal' trajectories between targets. By mounting large, lightweight vanes on the head, viscous damping B, up to 15 times normal could be added to the usual mechanical load of the head. With the added viscosity, the head trajectory was slowed and of larger duration (as expected) since fixed and maximal (for that amplitude) muscle forces had to accelerate the added viscous load. This decreased acceleration and velocity and longer duration movement still ensued in spite of adaptive compensation; this provided evidence that quasi-'time optimal' movements do indeed employ maximal muscle forces. The adaptation to this added load was rapid. Then the 'adapted state' subjects produced changed trajectories. The adaptation depended in part on the differing detailed instructions given to the subjects. This differential adaptation provided evidence for the existence of preprogrammed controller signals, sensitive to intended criterion, and neurologically ballistic or open loop rather than modified by feedback from proprioceptors or vision.
An experimental telerobotics simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. An enhanced perspective display was effective with a reference line from target to base, with or without a complex three-dimensional grid framing the view. This was true especially if geometrical display parameters such as azimuth and elevation were arranged to be near optimal. Quantitative comparisons were made possible, utilizing control performance measures such as root mean square error. There was a distinct preference for controlling the manipulator in end-effector Cartesian space for the primitive pick-and-place task, rather than controlling joint angles and then, via direct kinematis, the end-effector position. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. The fact that neurological control of normal human movement contains a sampled data period of 0.2 s may relate to this robustness of HO control to delay.
Computerized or digital, thermography is a rapidly growing diagnostic imaging modality. It has superseded contact thermography and analog imaging thermography which do not allow effective quantization. Medical applications of digital thermography can be classified in two groups: static and dynamic imaging. They can also be classified into macro thermography (resolution greater than 1 mm) and micro thermography (resolution less than 100 microns). Both modalities allow a thermal resolution of 0.1 C. The diagnostic power of images produced by any of these modalities can be augmented by the use of digital image enhancement and image recognition procedures. Computerized thermography has been applied in neurology, cardiovascular and plastic surgery, rehabilitation and sports medicine, psychiatry, dermatology and ophthalmology. Examples of these applications are shown and their scope and limitations are discussed.
Our research investigates how observations can be categorized by integrating a qualitative physical model with experiential knowledge. Our domain is diagnosis of pathologic gait in humans, in which the observations are the gait motions, muscle activity during gait, and physical exam data, and the diagnostic hypotheses are the potential muscle weaknesses, muscle mistimings, and joint restrictions. Patients with underlying neurological disorders typically have several malfunctions. Among the problems that need to be faced are: the ambiguity of the observations, the ambiguity of the qualitative physical model, correspondence of the observations and hypotheses to the qualitative physical model, the inherent uncertainty of experiential knowledge, and the combinatorics involved in forming composite hypotheses. Our system divides the work so that the knowledge-based reasoning suggests which hypotheses appear more likely than others, the qualitative physical model is used to determine which hypotheses explain which observations, and another process combines these functionalities to construct a composite hypothesis based on explanatory power and plausibility. We speculate that the reasoning architecture of our system is generally applicable to complex domains in which a less-than-perfect physical model and less-than-perfect experiential knowledge need to be combined to perform diagnosis.
An experimental telerobotics (TR) simulation suitable for studying human operator (H.O.) performance is described. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. A number of control modes could be compared in this TR simulation, including displacement, rate and acceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the H.O. can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a data period of 0.2 second may relate to this robustness of H.O. control to delay. The Ames-Berkeley enhanced perspective display was utilized in conjunction with an experimental helmet mounted display system (HMD) that provided stereoscopic enhanced views.
Exposure of unprotected humans to altitudes above 63,000 ft results in ebullism. Ebullism occurs when the vapor pressure of tissues is less than the ambient pressure and the tissues spontaneously 'boil'. This may result in rapid unconsciousness, cardiac vaporlock, pulmonary collapse, cerebral anoxia, and sometimes even death. Potential places for this include EVA accidents in space, aircraft experiencing rapid decompression at high altitudes with cabin or pressure suit failure, and accidents during pressure suit training exercises. The pathophysiology of ebullism was studied in the 40's to 60's using animal models. There is one report of a prolonged, unprotected human exposure and several anecdotal of unprotected short term exposures to near vacuum. In addition to pulmonary and neurologic concerns, unprotected exposure of the head may result in freezing of the corneal surface of the eye. Surface eye freezing may impair vision and significantly impact mission completion. At this time, little data are available on the effectiveness of conventional treatment protocols, such as hyperbaric oxygen, for ebullism induced injuries. Research is needed to assess the efficacy of other adjunctive therapies such as high frequency ventilation and cerebral protective drugs that are still under development.