Preliminary results toward a naturally controlled multi-synergistic prosthetic hand

Robotic hands embedding human motor control principles in their mechanical design are getting increasing interest thanks to their simplicity and robustness, combined with good performance. Another key aspect of these hands is that humans can use them very effectively thanks to the similarity of thei...

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Veröffentlicht in:IEEE International Conference on Rehabilitation Robotics Jg. 2017; S. 1356 - 1363
Hauptverfasser: Rossi, Matteo, Della Santina, Cosimo, Piazza, Cristina, Grioli, Giorgio, Catalano, Manuel, Bicchi, Antonio
Format: Tagungsbericht Journal Article
Sprache:Englisch
Veröffentlicht: United States IEEE 01.07.2017
Schlagworte:
Algorithms
Artificial Limbs
Control systems
Electromyography
Electromyography - methods
Hand - physiology
Humans
Prosthesis Design
Prosthetic hand
Robot sensing systems
Robotics - instrumentation
Signal Processing, Computer-Assisted
Task Performance and Analysis
Training
Wearable Electronic Devices
ISSN:1945-7901, 1945-7901
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Zusammenfassung:Robotic hands embedding human motor control principles in their mechanical design are getting increasing interest thanks to their simplicity and robustness, combined with good performance. Another key aspect of these hands is that humans can use them very effectively thanks to the similarity of their behavior with real hands. Nevertheless, controlling more than one degree of actuation remains a challenging task. In this paper, we take advantage of these characteristics in a multi-synergistic prosthesis. We propose an integrated setup composed of Pisa/IIT SoftHand 2 and a control strategy which simultaneously and proportionally maps the human hand movements to the robotic hand. The control technique is based on a combination of non-negative matrix factorization and linear regression algorithms. It also features a real-time continuous posture compensation of the electromyographic signals based on an IMU. The algorithm is tested on five healthy subjects through an experiment in a virtual environment. In a separate experiment, the efficacy of the posture compensation strategy is evaluated on five healthy subjects and, finally, the whole setup is successfully tested in performing realistic daily life activities.
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ISSN:1945-7901
1945-7901
DOI:10.1109/ICORR.2017.8009437