Goal : The development of a control system for an electromyographic shoulder disarticulation (EMG-SD) prosthesis to rapidly achieve a task with a reduction in the operational failure of the user. Methods : The motion planning of an EMG-SD prosthesis was automated using measured visual information through a mixed reality device. The detection of an object to be grasped and motion execution depended on the EMG of the user, which gives voluntary controllability and makes the system semi-automated. Two evaluation experiments with reaching and reach-to-grasp movements were conducted to compare the performance of the conventional system when operated using only visual feedback control of the user. Results : The proposed system can more rapidly and accurately achieve reaching movements (32% faster) and more accurate (69%) reach-to-grasp movements than a conventional system. Conclusions : The proposed control system achieves a high task performance with a reduction in the operational failure of an EMG-SD prosthesis user.

中文翻译：

---

基于混合现实设备的肌电肩关节离断假体伸臂运动半自动控制系统

目标 : 开发用于肌电肩关节离断 (EMG-SD) 假体的控制系统，以快速完成任务，减少用户的操作失败。方法 ：EMG-SD 假体的运动规划是通过混合现实设备使用测量的视觉信息自动进行的。被抓物体的检测和动作的执行依赖于用户的肌电图，具有自主可控性，使系统实现半自动化。进行了两个评估实验，涉及伸手可及的运动，以比较传统系统在仅使用用户的视觉反馈控制进行操作时的性能。结果 ：与传统系统相比，所提出的系统可以更快速、更准确地实现伸手动作（快 32%）和更准确（69%）的伸手抓握动作。结论 ：所提出的控制系统实现了高任务性能，减少了 EMG-SD 假肢用户的操作失败。