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Improving bimanual interaction with a prosthesis using semi-autonomous control.
Journal of NeuroEngineering and Rehabilitation ( IF 5.1 ) Pub Date : 2019-11-14 , DOI: 10.1186/s12984-019-0617-6
Robin Volkmar 1 , Strahinja Dosen 2 , Jose Gonzalez-Vargas 3 , Marcus Baum 4 , Marko Markovic 1
Affiliation  

BACKGROUND The loss of a hand is a traumatic experience that substantially compromises an individual's capability to interact with his environment. The myoelectric prostheses are state-of-the-art (SoA) functional replacements for the lost limbs. Their overall mechanical design and dexterity have improved over the last few decades, but the users have not been able to fully exploit these advances because of the lack of effective and intuitive control. Bimanual tasks are particularly challenging for an amputee since prosthesis control needs to be coordinated with the movement of the sound limb. So far, the bimanual activities have been often neglected by the prosthetic research community. METHODS We present a novel method to prosthesis control, which uses a semi-autonomous approach in order to simplify bimanual interactions. The approach supplements the commercial SoA two-channel myoelectric control with two additional sensors. Two inertial measurement units were attached to the prosthesis and the sound hand to detect the movement of both limbs. Once a bimanual interaction is detected, the system mimics the coordination strategies of able-bodied subjects to automatically adjust the prosthesis wrist rotation (pronation, supination) and grip type (lateral, palmar) to assist the sound hand during a bimanual task. The system has been evaluated in eight able-bodied subjects performing functional uni- and bi-manual tasks using the novel method and SoA two-channel myocontrol. The outcome measures were time to accomplish the task, semi-autonomous system misclassification rate, subjective rating of intuitiveness, and perceived workload (NASA TLX). RESULTS The results demonstrated that the novel control interface substantially outperformed the SoA myoelectric control. While using the semi-autonomous control the time to accomplish the task and the perceived workload decreased for 25 and 27%, respectively, while the subjects rated the system as more intuitive then SoA myocontrol. CONCLUSIONS The novel system uses minimal additional hardware (two inertial sensors) and simple processing and it is therefore convenient for practical implementation. By using the proposed control scheme, the prosthesis assists the user's sound hand in performing bimanual interactions while decreasing cognitive burden.

中文翻译:

使用半自主控制改善与假肢的双手交互。

背景技术失去一只手是一种创伤性经历,其严重损害个人与其环境互动的能力。肌电假肢是最先进的 (SoA) 失去肢体的功能替代品。它们的整体机械设计和灵巧性在过去几十年中得到了改进,但由于缺乏有效和直观的控制,用户无法充分利用这些进步。对于截肢者来说,双手任务尤其具有挑战性,因为假肢控制需要与健全肢体的运动相协调。迄今为止,双手活动经常被假肢研究界忽视。方法我们提出了一种新的假肢控制方法,它使用半自主方法来简化双手交互。该方法通过两个额外的传感器补充了商用 SoA 双通道肌电控制。两个惯性测量单元连接到假肢和健全手上,以检测双肢的运动。一旦检测到双手交互,系统就会模仿健全受试者的协调策略,自动调整假肢手腕旋转(旋前、旋后)和抓握类型(横向、掌侧),以在双手任务期间协助健全的手。该系统已在 8 名身体健全的受试者中进行了评估,这些受试者使用新颖的方法和 SoA 双通道肌肉控制执行功能性单手和双手任务。结果指标包括完成任务的时间、半自主系统错误分类率、直观性主观评分和感知工作量(NASA TLX)。结果 结果表明,新型控制界面的性能明显优于 SoA 肌电控制。使用半自主控制时,完成任务的时间和感知的工作量分别减少了 25% 和 27%,而受试者认为该系统比 SoA myocontrol 更直观。结论该新颖系统使用最少的附加硬件(两个惯性传感器)和简单的处理,因此便于实际实施。通过使用所提出的控制方案,假肢可以帮助用户的健全手进行双手交互,同时减轻认知负担。
更新日期:2019-11-14
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