caa a22 4500 528784285 20190323032148.0 cr unu---uuuuu 180924e201307 xx s 000 0 eng 10.3929/ethz-b-000091377 doi 10.1186/1743-0003-10-66 doi (ETHRESEARCH)oai:www.research-collection.ethz.ch:20.500.11850/91377 MUNDUS project: MUltimodal Neuroprosthesis for daily Upper limb Support [Elektronische Daten] [Alessandra Pedrocchi, Simona Ferrante, Emilia Ambrosini, Marta Gandolla, Claudia Casellato, Thomas Schauer, Christian Klauer, Javier Pascual, Carmen Vidaurre, Margit Gföhler, Werner Reichenfelser, Jakob Karner, Silvestro Micera, Andrea Crema, Franco Molteni, Mauro Rossini, Giovanna Palumbo, Eleonora Guanziroli, Andreas Jedlitschka, Marco Hack, Maria Bulgheroni, Enrico d'Amico, Peter Schenk, Sven Zwicker, Alexander Duschau-Wicke, Justinas Miseikis, Lina Graber, Giancarlo Ferrigno] J Neuroeng Rehabil Open access ethresearch Background MUNDUS is an assistive framework for recovering direct interaction capability of severely motor impaired people based on arm reaching and hand functions. It aims at achieving personalization, modularity and maximization of the user's direct involvement in assistive systems. To this, MUNDUS exploits any residual control of the end-user and can be adapted to the level of severity or to the progression of the disease allowing the user to voluntarily interact with the environment. MUNDUS target pathologies are high-level spinal cord injury (SCI) and neurodegenerative and genetic neuromuscular diseases, such as amyotrophic lateral sclerosis, Friedreich ataxia, and multiple sclerosis (MS). The system can be alternatively driven by residual voluntary muscular activation, head/eye motion, and brain signals. MUNDUS modularly combines an antigravity lightweight and non-cumbersome exoskeleton, closed-loop controlled Neuromuscular Electrical Stimulation for arm and hand motion, and potentially a motorized hand orthosis, for grasping interactive objects. Methods The definition of the requirements and of the interaction tasks were designed by a focus group with experts and a questionnaire with 36 potential end-users. Five end-users (3 SCI and 2 MS) tested the system in the configuration suitable to their specific level of impairment. They performed two exemplary tasks: reaching different points in the working volume and drinking. Three experts evaluated over a 3-level score (from 0, unsuccessful, to 2, completely functional) the execution of each assisted sub-action. Results The functionality of all modules has been successfully demonstrated. User's intention was detected with a 100% success. Averaging all subjects and tasks, the minimum evaluation score obtained was 1.13 ± 0.99 for the release of the handle during the drinking task, whilst all the other sub-actions achieved a mean value above 1.6. All users, but one, subjectively perceived the usefulness of the assistance and could easily control the system. Donning time ranged from 6 to 65 minutes, scaled on the configuration complexity. Conclusions The MUNDUS platform provides functional assistance to daily life activities; the modules integration depends on the user's need, the functionality of the system have been demonstrated for all the possible configurations, and preliminary assessment of usability and acceptance is promising. Creative Commons Attribution 2.0 Generic http://creativecommons.org/licenses/by/2.0 ethresearch Assistive device ethresearch Upper limb support ethresearch Neuromuscular electrical stimulation ethresearch Wearable exoskeleton ethresearch Neurological disorders ethresearch Pedrocchi Alessandra joint author Ferrante Simona joint author Ambrosini Emilia joint author Gandolla Marta joint author Casellato Claudia joint author Schauer Thomas joint author Klauer Christian joint author Pascual Javier joint author Vidaurre Carmen joint author Gföhler Margit joint author Reichenfelser Werner joint author Karner Jakob joint author Micera Silvestro joint author Crema Andrea joint author Molteni Franco joint author Rossini Mauro joint author Palumbo Giovanna joint author Guanziroli Eleonora joint author Jedlitschka Andreas joint author Hack Marco joint author Bulgheroni Maria joint author d'Amico Enrico joint author Schenk Peter joint author Zwicker Sven joint author Duschau-Wicke Alexander joint author Miseikis Justinas joint author Graber Lina joint author Ferrigno Giancarlo joint author Journal of NeuroEngineering and Rehabilitation London : BioMed Central 10, p. 66 1743-0003 http://hdl.handle.net/20.500.11850/91377 text/html WWW-Backlink auf das Repository (Open access) 1 Journal Article ethresearch ETHRESEARCH 856 40 http://hdl.handle.net/20.500.11850/91377 text/html WWW-Backlink auf das Repository (Open access) ETHRESEARCH 700 1- Pedrocchi Alessandra joint author ETHRESEARCH 700 1- Ferrante Simona joint author ETHRESEARCH 700 1- Ambrosini Emilia joint author ETHRESEARCH 700 1- Gandolla Marta joint author ETHRESEARCH 700 1- Casellato Claudia joint author ETHRESEARCH 700 1- Schauer Thomas joint author ETHRESEARCH 700 1- Klauer Christian joint author ETHRESEARCH 700 1- Pascual Javier joint author ETHRESEARCH 700 1- Vidaurre Carmen joint author ETHRESEARCH 700 1- Gföhler Margit joint author ETHRESEARCH 700 1- Reichenfelser Werner joint author ETHRESEARCH 700 1- Karner Jakob joint author ETHRESEARCH 700 1- Micera Silvestro joint author ETHRESEARCH 700 1- Crema Andrea joint author ETHRESEARCH 700 1- Molteni Franco joint author ETHRESEARCH 700 1- Rossini Mauro joint author ETHRESEARCH 700 1- Palumbo Giovanna joint author ETHRESEARCH 700 1- Guanziroli Eleonora joint author ETHRESEARCH 700 1- Jedlitschka Andreas joint author ETHRESEARCH 700 1- Hack Marco joint author ETHRESEARCH 700 1- Bulgheroni Maria joint author ETHRESEARCH 700 1- d'Amico Enrico joint author ETHRESEARCH 700 1- Schenk Peter joint author ETHRESEARCH 700 1- Zwicker Sven joint author ETHRESEARCH 700 1- Duschau-Wicke Alexander joint author ETHRESEARCH 700 1- Miseikis Justinas joint author ETHRESEARCH 700 1- Graber Lina joint author ETHRESEARCH 700 1- Ferrigno Giancarlo joint author ETHRESEARCH 773 0- Journal of NeuroEngineering and Rehabilitation London : BioMed Central 10, p. 66 1743-0003 BK010053 XK010053 XK010000 ETHRESEARCH ETHRESEARCH ETHRESEARCH Journal Article Open access