{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,10]],"date-time":"2026-04-10T23:07:33Z","timestamp":1775862453305,"version":"3.50.1"},"reference-count":28,"publisher":"MDPI AG","issue":"20","license":[{"start":{"date-parts":[[2019,10,18]],"date-time":"2019-10-18T00:00:00Z","timestamp":1571356800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002322","name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","doi-asserted-by":"publisher","award":["88887.137818\/2017-00"],"award-info":[{"award-number":["88887.137818\/2017-00"]}],"id":[{"id":"10.13039\/501100002322","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003032","name":"Association Nationale de la Recherche et de la Technologie","doi-asserted-by":"publisher","award":["CIFRE # 2013\/0867"],"award-info":[{"award-number":["CIFRE # 2013\/0867"]}],"id":[{"id":"10.13039\/501100003032","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001665","name":"Agence Nationale de la Recherche","doi-asserted-by":"publisher","award":["ANR-10-LABX-20"],"award-info":[{"award-number":["ANR-10-LABX-20"]}],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Individuals who sustained a spinal cord injury often lose important motor skills, and cannot perform basic daily living activities. Several assistive technologies, including robotic assistance and functional electrical stimulation, have been developed to restore lost functions. However, designing reliable interfaces to control assistive devices for individuals with C4\u2013C8 complete tetraplegia remains challenging. Although with limited grasping ability, they can often control upper arm movements via residual muscle contraction. In this article, we explore the feasibility of drawing upon these residual functions to pilot two devices, a robotic hand and an electrical stimulator. We studied two modalities, supra-lesional electromyography (EMG), and upper arm inertial sensors (IMU). We interpreted the muscle activity or arm movements of subjects with tetraplegia attempting to control the opening\/closing of a robotic hand, and the extension\/flexion of their own contralateral hand muscles activated by electrical stimulation. Two groups were recruited: eight subjects issued EMG-based commands; nine other subjects issued IMU-based commands. For each participant, we selected at least two muscles or gestures detectable by our algorithms. Despite little training, all participants could control the robot\u2019s gestures or electrical stimulation of their own arm via muscle contraction or limb motion.<\/jats:p>","DOI":"10.3390\/s19204532","type":"journal-article","created":{"date-parts":[[2019,10,18]],"date-time":"2019-10-18T11:24:15Z","timestamp":1571397855000},"page":"4532","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Assisted Grasping in Individuals with Tetraplegia: Improving Control through Residual Muscle Contraction and Movement"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7255-5916","authenticated-orcid":false,"given":"Lucas","family":"Fonseca","sequence":"first","affiliation":[{"name":"LARA, Department of Electrical Engineering, University of Bras\u00edlia, Bras\u00edlia 70919, Brazil"},{"name":"INRIA, University of Montpellier, 34095 Montpellier, France"}]},{"given":"Wafa","family":"Tigra","sequence":"additional","affiliation":[{"name":"INRIA, University of Montpellier, 34095 Montpellier, France"},{"name":"MXM, 78153 Sophia Antipolis, France"}]},{"given":"Benjamin","family":"Navarro","sequence":"additional","affiliation":[{"name":"LIRMM, University of Montpellier, 34095 Montpellier, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4184-6243","authenticated-orcid":false,"given":"David","family":"Guiraud","sequence":"additional","affiliation":[{"name":"INRIA, University of Montpellier, 34095 Montpellier, France"}]},{"given":"Charles","family":"Fattal","sequence":"additional","affiliation":[{"name":"CRF La Ch\u00e2taigneraie, 95180 Menucourt, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8229-0512","authenticated-orcid":false,"given":"Ant\u00f4nio","family":"B\u00f3","sequence":"additional","affiliation":[{"name":"LARA, Department of Electrical Engineering, University of Bras\u00edlia, Bras\u00edlia 70919, Brazil"}]},{"given":"Emerson","family":"Fachin-Martins","sequence":"additional","affiliation":[{"name":"Department of Physiotherapy at the Faculdade de Ceil\u00e2ndia, University of Bras\u00edlia, Bras\u00edlia 72220, Brazil"}]},{"given":"Violaine","family":"Leynaert","sequence":"additional","affiliation":[{"name":"PROPARA Clinical Center, 34090 Montpellier, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8642-0871","authenticated-orcid":false,"given":"Anthony","family":"G\u00e9lis","sequence":"additional","affiliation":[{"name":"PROPARA Clinical Center, 34090 Montpellier, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7379-8004","authenticated-orcid":false,"given":"Christine","family":"Azevedo-Coste","sequence":"additional","affiliation":[{"name":"INRIA, University of Montpellier, 34095 Montpellier, France"}]}],"member":"1968","published-online":{"date-parts":[[2019,10,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"117","DOI":"10.1113\/jphysiol.1895.sp000560","article-title":"The Electrical Response to Stimulation of Muscle, and its Relation to the Mechanical Response","volume":"18","author":"Sanderson","year":"1895","journal-title":"J. Physiol."},{"key":"ref_2","first-page":"3","article-title":"Electrical stimulation providing functional use of paraplegic patient muscles","volume":"7","author":"Kralj","year":"1980","journal-title":"Med. Prog. Technol."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Popovi\u0107, D., and Sinkjaer, T. (2000). Control of Movement for the Physically Disabled: Control for Rehabilitation Technology, Springer.","DOI":"10.1007\/978-1-4471-0433-9"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"52","DOI":"10.1109\/MC.2008.409","article-title":"Brain-Computer Interface Operation of Robotic and Prosthetic Devices","volume":"41","author":"McFarland","year":"2008","journal-title":"Computer"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"2695106","DOI":"10.1155\/2018\/2695106","article-title":"Design of Embedded System for Multivariate Classification of Finger and Thumb Movements Using EEG Signals for Control of Upper Limb Prosthesis","volume":"2018","author":"Rashid","year":"2018","journal-title":"Biomed Res. Int."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1080\/10400430902945678","article-title":"Use of MMG Signals for the Control of Powered Orthotic Devices: Development of a Rectus Femoris Measurement Protocol","volume":"21","author":"Antonelli","year":"2009","journal-title":"Assist. Technol."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"320","DOI":"10.1016\/j.jelekin.2011.09.004","article-title":"The effects of motion artifact on mechanomyography: A comparative study of microphones and accelerometers","volume":"22","author":"Posatskiy","year":"2012","journal-title":"J. Electromyogr. Kinesiol."},{"key":"ref_8","unstructured":"Chen, Y., and Newman, W. (May, January 26). A human-robot interface based on electrooculography. Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, USA."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"4","DOI":"10.1016\/j.cviu.2004.07.010","article-title":"Eye gaze tracking techniques for interactive applications","volume":"98","author":"Morimoto","year":"2005","journal-title":"Comput. Vis. Image Underst."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Fan, B.H., and Li, K.Y. (2010, January 16\u201317). The Speech Control System of Intelligent Robot Prosthesis. Proceedings of the IEEE Second WRI Global Congress on Intelligent Systems, Wuhan, China.","DOI":"10.1109\/GCIS.2010.69"},{"key":"ref_11","unstructured":"Lv, X., Zhang, M., and Li, H. (2008, January 1\u20133). Robot control based on voice command. Proceedings of the 2008 IEEE International Conference on Automation and Logistics, Qingdao, China."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1016\/j.pmrj.2010.06.016","article-title":"Neural Interfaces for Control of Upper Limb Prostheses: The State of the Art and Future Possibilities","volume":"3","author":"Schultz","year":"2011","journal-title":"PM R"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"251","DOI":"10.3233\/NRE-1998-10305","article-title":"Grasping in high lesioned tetraplegic subjects using the EMG controlled neuroprosthesis","volume":"10","author":"Keller","year":"1998","journal-title":"NeuroRehabilitation"},{"key":"ref_14","unstructured":"Kirsch, R., Parikh, P., Acosta, A., and Van Der Helm, F. (2001, January 25\u201328). Feasibility of EMG-based control of shoulder muscle FNS via artificial neural network. Proceedings of the 23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Istanbul, Turkey."},{"key":"ref_15","unstructured":"DiCicco, M., Lucas, L., and Matsuoka, Y. (May, January 26). Comparison of control strategies for an EMG controlled orthotic exoskeleton for the hand. Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, USA."},{"key":"ref_16","unstructured":"Jiang, H., Wachs, J.P., and Duerstock, B.S. (2013, January 24\u201326). Integrated vision-based robotic arm interface for operators with upper limb mobility impairments. Proceedings of the 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR), Seattle, WA, USA."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"333","DOI":"10.1016\/j.snb.2006.04.039","article-title":"Design and implementation of an inertial measurement unit for control of artificial limbs: Application on leg orthoses","volume":"118","author":"Moreno","year":"2006","journal-title":"Sens. Actuators B Chem."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"524","DOI":"10.1016\/S0363-5023(89)80017-6","article-title":"Implantable functional neuromuscular stimulation in the tetraplegic hand","volume":"14","author":"Keith","year":"1989","journal-title":"J. Hand Surg."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"1201","DOI":"10.1016\/j.apmr.2014.01.028","article-title":"Implanted neuroprosthesis for restoring arm and hand function in people with high level tetraplegia","volume":"95","author":"Memberg","year":"2014","journal-title":"Arch. Phys. Med. Rehabil."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"1821","DOI":"10.1016\/S0140-6736(17)30601-3","article-title":"Restoration of reaching and grasping movements through brain-controlled muscle stimulation in a person with tetraplegia: A proof-of-concept demonstration","volume":"389","author":"Ajiboye","year":"2017","journal-title":"Lancet"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"247","DOI":"10.1038\/nature17435","article-title":"Restoring cortical control of functional movement in a human with quadriplegia","volume":"533","author":"Bouton","year":"2016","journal-title":"Nature"},{"key":"ref_22","first-page":"1","article-title":"Non-invasive control interfaces for intention detection in active movement-assistive devices","volume":"11","author":"Kooren","year":"2014","journal-title":"J. Neuroeng. Rehabil."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1109\/TNSRE.2016.2609478","article-title":"A novel EMG interface for individuals with tetraplegia to pilot robot hand grasping","volume":"26","author":"Tigra","year":"2016","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Sarcevic, P., Kincses, Z., and Pletl, S. (2014, January 19\u201321). Wireless Sensor Network based movement classification using wrist-mounted 9DOF sensor boards. Proceedings of the IEEE 15th International Symposium on Computational Intelligence and Informatics (CINTI), Budapest, Hungary.","DOI":"10.1109\/CINTI.2014.7028654"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Phinyomark, A., Khushaba, R., and Scheme, E. (2018). Feature Extraction and Selection for Myoelectric Control Based on Wearable EMG Sensors. Sensors, 18.","DOI":"10.3390\/s18051615"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"564","DOI":"10.1109\/TBCAS.2018.2810256","article-title":"A Multimodal Adaptive Wireless Control Interface for People With Upper-Body Disabilities","volume":"12","author":"Fall","year":"2018","journal-title":"IEEE Trans. Biomed. Circuits Syst."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1109\/MEMB.2010.936547","article-title":"Wearable Neural Prostheses","volume":"29","author":"Micera","year":"2010","journal-title":"IEEE Eng. Med. Biol. Mag."},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Benabid, A.L., Costecalde, T., Eliseyev, A., Charvet, G., Verney, A., Karakas, S., Foerster, M., Lambert, A., Morini\u00e8re, B., and Abroug, N. (2019). An exoskeleton controlled by an epidural wireless brain\u2013machine interface in a tetraplegic patient: A proof-of-concept demonstration. Lancet Neurol.","DOI":"10.1016\/S1474-4422(19)30321-7"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/20\/4532\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T13:27:31Z","timestamp":1760189251000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/20\/4532"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,10,18]]},"references-count":28,"journal-issue":{"issue":"20","published-online":{"date-parts":[[2019,10]]}},"alternative-id":["s19204532"],"URL":"https:\/\/doi.org\/10.3390\/s19204532","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,10,18]]}}}