Background: There is a clear need for a prosthesis that improves postural stability in the balance impaired. Such a device would be used as a temporary aid during recovery from ablative inner-ear surgery, a postural monitor during rehabilitation (for example, hip surgery), and as a permanent prosthesis for those elderly prone to falls. Method of approach: Recently developed, small instruments have enabled wearable prostheses to augment or replace vestibular functions. The current prosthesis communicates by vibrators mounted on the subject’s trunk. In this paper we emphasize the unique algorithms that enable tilt indication with modestly performing micromachined gyroscopes and accelerometers. Results: For large angles and multiple axes, gyro drift and unwanted lateral accelerations are successfully rejected. In single-axis tests, the most dramatic results were obtained in standard operating tests where balance-impaired subjects were deprived of vision and proprioceptive inputs. Balance-impaired subjects who fell (into safety restraints) when not aided were able to stand with the prosthesis. Initial multiaxis tests with healthy subjects have shown that sway is reduced in both forward-back and sideward directions. Conclusions: Positive results in initial testing and a sound theoretical basis for the hardware warrant continued development and testing, which is being conducted at three sites.
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December 2006
Technical Papers
Tilt Determination in MEMS Inertial Vestibular Prosthesis
Conrad Wall,
Conrad Wall
Massachusetts Eye and Ear Infirmary
, Boston, MA and Harvard Medical School
, Boston, MA
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Jimmy Robertsson,
Jimmy Robertsson
Massachusetts Eye and Ear Infirmary
, Boston, MA
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Edward O’Neil,
Edward O’Neil
Draper Laboratory
, Cambridge, MA
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Kathleen Sienko,
Kathleen Sienko
Massachusetts Eye and Ear Infirmary
, Boston, MA and Massachusetts Institute of Technology
, Cambridge, MA
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Robert Fields
Robert Fields
Draper Laboratory
, Cambridge, MA
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Marc. S. Weinberg
Conrad Wall
Massachusetts Eye and Ear Infirmary
, Boston, MA and Harvard Medical School
, Boston, MA
Jimmy Robertsson
Massachusetts Eye and Ear Infirmary
, Boston, MA
Edward O’Neil
Draper Laboratory
, Cambridge, MA
Kathleen Sienko
Massachusetts Eye and Ear Infirmary
, Boston, MA and Massachusetts Institute of Technology
, Cambridge, MA
Robert Fields
Draper Laboratory
, Cambridge, MAJ Biomech Eng. Dec 2006, 128(6): 943-956 (14 pages)
Published Online: May 8, 2006
Article history
Received:
April 1, 2005
Revised:
May 8, 2006
Citation
Weinberg, M. S., Wall, C., Robertsson, J., O’Neil, E., Sienko, K., and Fields, R. (May 8, 2006). "Tilt Determination in MEMS Inertial Vestibular Prosthesis." ASME. J Biomech Eng. December 2006; 128(6): 943–956. https://doi.org/10.1115/1.2378922
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