EMS course hands-on course on electrical muscle stimulation pedro - - PowerPoint PPT Presentation

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EMS course hands-on course on electrical muscle stimulation pedro - - PowerPoint PPT Presentation

Jul 14, 2023 122 likes •1.22k views

EMS course hands-on course on electrical muscle stimulation pedro lopes, max pffeifer, michael rohs, patrick baudisch @ CHI16 in this course you will be able to create interfaces that talk directly to the human body interfaces that talk

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hands-on course on electrical muscle stimulation pedro lopes, max pffeifer, michael rohs, patrick baudisch @ CHI’16

EMS course

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in this course you will be able to create interfaces that talk directly to the human body

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interfaces that talk directly to the user’s body and are based on the proprioceptive sense

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interfaces that talk directly to the user’s body and are based on the proprioceptive sense we’ll be guiding you through the basics of how to actuate muscles using EMS (electrical muscle stimulation)

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interfaces that talk directly to the user’s body and are based on the proprioceptive sense we’ll be guiding you through the basics of how to electrically actuate muscles using EMS

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pedro lopes max pfeiffer tim dünte michael rohs patrick baudisch

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so what hardware are we using for EMS?

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you’ll get a EMS control kit similar to this … designed by Max and Tim for you!

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the board is now released as open source, as just like we did, you can fab your own

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what the board does: controls the amplitude of your haptic output, i.e., how much the user’s muscles contract

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wait… interactive systems based on electrical muscle stimulation?

PhD Thesis “Proprioceptive Interaction: interactive systems based on electrical muscle stimulation” by Pedro Lopes

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when you think of haptic interfaces capable

  • f force output… you think of this
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  • r this…
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  • r this… grounded force feedback devices
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these are great, precise and powerful

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however, they don’t miniaturize

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and today’s trend is mobility

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for large actuation and mobility researchers focused on exoskeletons but these are heavy and get in the way

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instead… we design interactive systems with strong haptic forces such as force feedback … with a substantially smaller footprint

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proprioceptive interfaces that r/w to the body

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proprioceptive interfaces that r/w to the body

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muscle propelled force feedback, CHI’13

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... device has no motors or actuators

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exoskeleton motors muscles skeleton battery carbs

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proprioceptive interfaces that r/w to the body

1 1 2 2 3 3 4 4

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proprioceptive interaction, CHI’15

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is interacting through the pose of their own body (proprius). i.e., rather than seeing, hearing, or feeling an outside stimulus, users feel the pose of their body.

proprioceptive interaction

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interactive device

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very small I/O device…

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shared channel [human & machine]

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different channels < human machine>

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proprioceptive interfaces that r/w to the body

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we asked participants to: paint this affordance++, CHI 15

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allowing objects to communicate dynamic use (motion, multi-step processes, behaviors that change over time) by controlling user behavior.

affordance++

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the key is that the instruction (motion) happens and is perceived, at the same time

(1) searching (2) reading (3) understanding (4) mimicking

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now the spray-can affords

  • 1. what to do: shaking motion
  • 2. the order of steps: grab, shake, spray
  • 3. hidden state: e.g., throw away when empty
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  • 1. motion
  • 2. order of steps

(multi-step processes)

  • 3. hidden state
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  • 1. motion
  • 2. order of steps

(multi-step processes)

  • 3. hidden state
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we asked participants to: prepare the avocado in thin slices

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  • 1. motion
  • 2. order of steps

(multi-step processes)

  • 3. hidden state
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we asked participants to: drink some water

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we asked participants to: collect all the screws

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most users expect that pushing the handle is what grabs the nails, but that is the last step (releases)

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we asked participants to: drink some water

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proprioceptive interfaces that r/w to the body

1 1 2 2 3 3 4 4

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but the output is not realistic, no motion

  • utput?
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impacto, UIST’15

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take away message from pedro

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is interacting through the pose of their own body (proprius). i.e., rather than seeing, hearing, or feeling an outside stimulus, users feel the pose of their body.

proprioceptive interaction

take away message

  • 1. immersive: feel the virtual world on your body
  • 2. interact eyes free & mobile
  • 3. post wearable, i.e., body = I/O interface
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we think this could be one approach to post-wearable: interfaces that fuse with the body

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  • ff to max now…
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Max Pfeiffer

Enabling Electrical Muscle Stimulation as Haptic Feedback

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Soap Babble Game:

Supporting Interaction in Public Space with Electrical Muscle Stimulation

UbiComp2013

  • M. Pfeiffer, S. Schneegass, F. Alt:
Supporting interaction in public space with electrical muscle stimulation. In proceedings Pervasive and ubiquitous computing adjunct publication, 2013.
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EMS Vibration Free

  • M. Pfeiffer, S. Schneegass, F. Alt, M. Rohs:
Let me grab this: A comparison of EMS and vibration for haptic feedback in free-hand interaction. In Proceedings of Augmented Human International Conference, 2014.

Let Me Grab This:

A Comparison of EMS and Vibration for Haptic Feedback in Free-Hand Interaction

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A Design Space for EMS Feedback for Free-Hand Interaction

  • M. Pfeiffer, S. Schneegass, F. Alt, M. Rohs:
A Design Space for Electrical Muscle Stimulation Feedback for Free-Hand Interaction. In Workshop on Assistive Augmentation – CHI, 2014.
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3D Virtual Hand Pointing with EMS and Vibration Feedback

  • M. Pfeiffer, W. Stuerzlinger:
3D Virtual Hand Pointing with EMS and Vibration Feedback. In proceedings of the 3DUI, 2015.
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Use Attached Haptic Feedback

  • n Touch Displays
  • M. Pfeiffer, L.D.L. Phan, M. Rohs:
User - Attached Haptic Feedback on Touch Displays via EMS. IEEE World Haptics - WIP, 2015.
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Cruise Control for Pedestrians:

Controlling Walking Direction using Electrical Muscle Stimulation

Honorable Mention Award

CHI 2015

ACM Conference on Human Factors in Computing Systems April 18 – 23, 2015 Seoul, Korea Presented to Max Pfeiffer University of Hannover, Germany For Cruise Control for Pedestrians: Controlling Walking Direction using Electrical Muscle Stimulation Max Pfeiffer, Tim Dünte, Stefan Schneegass, Florian Alt, Michael Rohs SIGCHI President Gerrit van der Veer Best of CHI Awards Chair Mark Billinghurst
  • M. Pfeiffer, T. Dünte, S. Schneegass, F. Alt, M. Rohs:
Cruise Control for Pedestrians: Controlling Walking Direction using Electrical Muscle Stimulation. In Proceedings of CHI, 2015.
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In Out Signal generator

Devices Control Actuation

Protocol

Let Your Body Move - Toolkit

  • P. Lopes, M. Pfeiffer, M. Rohs, P.Baudisch:
Let your body move – a tutorial on electrical muscle stimuli as haptics. IEEE World Haptics. 2015
  • M. Pfeiffer, T. Duente, M. Rohs:
A Wearable Force Feedback Toolkit with Electrical Muscle Stimulation Submitted to: CHI, 2016 Interactivity.
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let’s get started

  • with EMS
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now, you will: now, you will:

  • 1. get EMS + phone + board
  • 1. get EMS + phone + board
  • 2. open the WorldHaptics2015-v01 app
  • 2. open the WorldHaptics2015-v01 app

(desktop) (desktop)

  • 3. power the control board with 9v battery
  • 3. power the control board with 9v battery

(note don’t power the EMS yet, no electrodes) (note don’t power the EMS yet, no electrodes)

  • 4. connect the app to the board (board is
  • 4. connect the app to the board (board is

running already) running already)

  • 5. tap left/right to open channels
  • 5. tap left/right to open channels
  • 6. great, control board works!
  • 6. great, control board works!
  • 7. now let’s learn about EMS
  • 7. now let’s learn about EMS
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now, you will: now, you will:

  • 1. get EMS + phone + board
  • 1. get EMS + phone + board
  • 3. power the control board with 9v battery
  • 3. power the control board with 9v battery

(note don’t power the EMS yet, no electrodes) (note don’t power the EMS yet, no electrodes)

  • 4. connect the app to the board (board is
  • 4. connect the app to the board (board is

running already) running already)

  • 5. tap left/right to open channels
  • 5. tap left/right to open channels
  • 6. great, control board works!
  • 6. great, control board works!
  • 7. now let’s learn about EMS
  • 7. now let’s learn about EMS
  • 2. open the W
  • 2. open the WorldHaptics2015-v01 app
  • rldHaptics2015-v01 app

(desktop) (desktop)

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now, you will: now, you will:

  • 1. get EMS + phone + board
  • 1. get EMS + phone + board
  • 2. open the WorldHaptics2015-v01 app
  • 2. open the WorldHaptics2015-v01 app

(desktop) (desktop)

  • 3. power the control board with 9v battery + wait
  • 3. power the control board with 9v battery + wait

10s (don’t power the EMS yet, no electrodes) 10s (don’t power the EMS yet, no electrodes)

  • 4. connect the app to the board (board is
  • 4. connect the app to the board (board is

running already) running already)

  • 5. tap left/right to open channels
  • 5. tap left/right to open channels
  • 6. great, control board works!
  • 6. great, control board works!
  • 7. now let’s learn about EMS
  • 7. now let’s learn about EMS
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now, you will:

  • 1. get EMS + phone + board + electrodes
  • 2. open the WorldHaptics2015-v01 app

(desktop)

  • 3. power the control board with 9v battery

(note don’t power the EMS yet, no electrodes)

  • 5. tap left/right to open channels
  • 6. great, control board works!
  • 7. now let’s learn about EMS
  • 4. connect the app to the board

(board is running already)

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now, you will:

  • 1. get EMS + phone + board
  • 2. open the WorldHaptics2015-v01 app

(desktop)

  • 3. power the control board with 9v battery

(note don’t power the EMS yet, no electrodes)

  • 5. tap left/right to open channels
  • 6. great, control board works!
  • 7. now let’s learn about EMS
  • 4. connect the app to the board

(board is running already)

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now, you will: now, you will:

  • 1. get EMS + phone + board
  • 1. get EMS + phone + board
  • 2. open the WorldHaptics2015-v01 app
  • 2. open the WorldHaptics2015-v01 app

(desktop) (desktop)

  • 3. power the control board with 9v battery
  • 3. power the control board with 9v battery

(note don’t power the EMS yet, no electrodes) (note don’t power the EMS yet, no electrodes)

  • 4. connect the app to the board (board is
  • 4. connect the app to the board (board is

running already) running already)

  • 5. tap left/right to open channels
  • 5. tap left/right to open channels
  • 6. great, control board works!
  • 6. great, control board works!
  • 7. now let’s learn about EMS
  • 7. now let’s learn about EMS
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now, you will: now, you will:

  • 1. get EMS + phone + board
  • 1. get EMS + phone + board
  • 2. open the WorldHaptics2015-v01 app
  • 2. open the WorldHaptics2015-v01 app

(desktop) (desktop)

  • 3. power the control board with 9v battery
  • 3. power the control board with 9v battery

(note don’t power the EMS yet, no electrodes) (note don’t power the EMS yet, no electrodes)

  • 4. connect the app to the board (board is
  • 4. connect the app to the board (board is

running already) running already)

  • 5. tap left/right to open channels
  • 5. tap left/right to open channels
  • 6. if you see LEDS, great, control board works!
  • 6. if you see LEDS, great, control board works!
  • 7. now let’s learn about EMS
  • 7. now let’s learn about EMS
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now, you will: now, you will:

  • 1. get EMS + phone + board
  • 1. get EMS + phone + board
  • 2. open the WorldHaptics2015-v01 app
  • 2. open the WorldHaptics2015-v01 app

(desktop) (desktop)

  • 3. power the control board with 9v battery
  • 3. power the control board with 9v battery

(note don’t power the EMS yet, no electrodes) (note don’t power the EMS yet, no electrodes)

  • 4. connect the app to the board (board is
  • 4. connect the app to the board (board is

running already) running already)

  • 5. tap left/right to open channels
  • 5. tap left/right to open channels
  • 6. if you see LEDS, great, control board works!
  • 6. if you see LEDS, great, control board works!
  • 7. now let’s learn about EMS
  • 7. now let’s learn about EMS
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a word on safety

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basics of EMS are:

  • medically compliant device (TENS/EMS)
  • two electrodes attached to user’s skin
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EMS uses electrical impulses to stimulate nerves and muscle fibers. Here are the golden rules:

  • 0. Never put electrodes across the heart.
  • 1. Electrodes on the same side of the body.
  • 2. Electrodes must be close, no electrodes

more than a few centimeters away.

  • 3. always place electrodes first, then start EMS.

Do not readjust electrodes with EMS on.

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Actually EMS machines are designed to prevent situations such as an EMS pad that falls of, still..

  • 0. prevention is the best safety measure
  • How do machines protect you if a pad falls off?
  • 1. analog solution: parallel small resistor
  • 2. digital solution: test pulse prior to EMS pulse
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muscular anatomy

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to make your life easier, here are a few muscles that are easy to actuate:

  • 1. palm/wrist flexor
  • 2. palm/wrist extensor
  • 3. biceps
  • 4. calves
  • 5. leg turning
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  • 1. flexor
  • 2. extensor

[palm side] [back of the hand] +

  • +
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  • 2. extensor
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  • 3. biceps
  • 4. calf [triceps surea]

[suggestion: larger pads ] back of the leg, side of the heel, large pads] +

  • +
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let’s start trying the EMS out!

  • 0. get the EMS hardware
  • 1. get the smartphone
  • 2. pair them together
  • 3. locate the palm/wrist flexor
  • 4. place electrodes with EMS off
  • 5. call us to check position
  • 6. calibrate first, on the max level (& pain-free)
  • 7. let’s try it as a wizard of oz device!
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exploring EMS

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break into groups and let’s brainstorm what novel interaction does your EMS system allow:

  • feeling/transmitting force
  • assistive systems
  • transmitting information
  • haptics for games
  • haptics for virtual reality
  • your own idea!
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interfacing with our

  • EMS control board
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the EMS board accepts commands via bluetooth 4.0 (low energy) or serial (USB).

  • there is an on-board arduino, running the code

to modulate the EMS amplitude according to the command received.

ems boar ems board bt

usb

in

  • ut
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ems boar ems board a medical a medical EMS EMS stimulator stimulator channel 1 electrodes channel 2 electrodes your your phone phone bt

usb

in

  • ut
  • r virtually

any bluetooth device

  • ut

the EMS board responds to commands via bluetooth 4.0 (low energy)

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ems boar ems board a medical a medical EMS EMS stimulator stimulator channel 1 electrodes channel 2 electrodes your your phone phone your laptop your laptop bt

usb

in

  • ut
  • r virtually

any bluetooth device

  • ut

the EMS board responds to commands via bluetooth 4.0 (low energy) or serial (USB). 


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credits

course Materials and Slides by Pedro EMS board designed by Max & Tim software by Max & Tim, edits by Pedro casings by Pedro & Doga software and Hardware under MIT License (no military use) see LICENSE.

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further

  • related work
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eyes-free wearable output (vibrotactile)

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increase expressiveness (vibrotactile arrays)

[Huang et. al, CHI’10]

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input and output, unified (gesture output)

[roudaut & al., CHI’13]

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rehabilitation based on EMS, since the 60’s

[Liberson et. al, Patent ’67] [Vodovni et al, Prosthetics ’77]

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EMS as training system

[tamaki & rekimoto, CHI’11]

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EMG interfaces for muscle input [saponas et al., CHI’10]

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exit(0);