title: The impact of the stimulation frequency on closed-loop control with electrotactile feedback.
abstract: BACKGROUND
  Electrocutaneous stimulation can restore the missing sensory information to prosthetic users. In electrotactile feedback, the information about the prosthesis state is transmitted in the form of pulse trains. The stimulation frequency is an important parameter since it influences the data transmission rate over the feedback channel as well as the form of the elicited tactile sensations.
  
  
  METHODS
  We evaluated the influence of the stimulation frequency on the subject's ability to utilize the feedback information during electrotactile closed-loop control. Ten healthy subjects performed a real-time compensatory tracking (standard test bench) of sinusoids and pseudorandom signals using either visual feedback (benchmark) or electrocutaneous feedback in seven conditions characterized by different combinations of the stimulation frequency (FSTIM) and tracking error sampling rate (FTE). The tracking error was transmitted using two concentric electrodes placed on the forearm. The quality of tracking was assessed using the Squared Pearson Correlation Coefficient (SPCC), the Normalized Root Mean Square Tracking Error (NRMSTE) and the time delay between the reference and generated trajectories (TDIO).
  
  
  RESULTS
  The results demonstrated that FSTIM was more important for the control performance than FTE. The quality of tracking deteriorated with a decrease in the stimulation frequency, SPCC and NRMSTE (mean) were 87.5% and 9.4% in the condition 100/100 (FTE/FSTIM), respectively, and deteriorated to 61.1% and 15.3% in 5/5, respectively, while the TDIO increased from 359.8 ms in 100/100 to 1009 ms in 5/5. However, the performance recovered when the tracking error sampled at a low rate was delivered using a high stimulation frequency (SPCC = 83.6%, NRMSTE = 10.3%, TDIO = 415.6 ms, in 5/100).
  
  
  CONCLUSIONS
  The likely reason for the performance decrease and recovery was that the stimulation frequency critically influenced the tactile perception quality and thereby the effective rate of information transfer through the feedback channel. The outcome of this study can facilitate the selection of optimal system parameters for somatosensory feedback in upper limb prostheses. The results imply that the feedback variables (e.g., grasping force) should be transmitted at relatively high frequencies of stimulation (>25 Hz), but that they can be sampled at much lower rates (e.g., 5 Hz).
authors.affiliation: Laboratorio di Cinematica e Robotica, Fondazione Ospedale San Camillo - I.R.C.C.S., Lido di Venezia, Italy. lparede@gwdg.de.
authors.forename: Liliana P
authors.initials: LP
authors.lastname: Paredes
authors.affiliation: Department of Neurorehabilitation Engineering, University Medical Center Goettingen, Goettingen, Germany. strahinja.dosen@bccn.uni-goettingen.de.
authors.forename: Strahinja
authors.initials: S
authors.lastname: Dosen
authors.affiliation: Institute for Analysis and Scientific Computing, Vienna University of Technology, Vienna, Austria. frank.rattay@tuwien.ac.at.
authors.forename: Frank
authors.initials: F
authors.lastname: Rattay
authors.affiliation: Translational Research and Knowledge Management, Otto Bock Healthcare GmbH, Duderstadt, Germany. bernhard.graimann@ottobock.de.
authors.forename: Bernhard
authors.initials: B
authors.lastname: Graimann
authors.affiliation: Department of Neurorehabilitation Engineering, University Medical Center Goettingen, Goettingen, Germany. dario.farina@bccn.uni-goettingen.de.
authors.forename: Dario
authors.initials: D
authors.lastname: Farina
mesh_terms: D000328:Adult; D001186:Artificial Limbs; D004558:Electric Stimulation; D056228:Feedback, Sensory / Q000502:physiology*; D005260:Female; D005542:Forearm; D006801:Humans; D008297:Male; D008875:Middle Aged; D011474:Prosthesis Design / Q000379:methods*