Model-based control of individual finger movements for prosthetic hand function

• Verfasst von: Blana, Dimitra [VerfasserIn]
• Verfasst von: Van Den Bogert, Antonie J. [VerfasserIn]
• Verfasst von: Murray, Wendy M. [VerfasserIn]
• Verfasst von: Ganguly, Amartya [VerfasserIn]
• Verfasst von: Krasoulis, Agamemnon [VerfasserIn]
• Verfasst von: Nazarpour, Kianoush [VerfasserIn]
• Verfasst von: Chadwick, Edward K. [VerfasserIn]
• Titel: Model-based control of individual finger movements for prosthetic hand function
• Verf.angabe: Dimitra Blana, Antonie J. Van Den Bogert, Wendy M. Murray, Amartya Ganguly, Agamemnon Krasoulis, Kianoush Nazarpour, Edward K. Chadwick
• E-Jahr: 2020
• Jahr: 20 January 2020
• Umfang: 9 S.
• Fussnoten: Gesehen am 15.05.2020
• Titel Quelle: Enthalten in: Institute of Electrical and Electronics EngineersIEEE transactions on neural systems and rehabilitation engineering
• Ort Quelle: New York, NY : IEEE, 1993
• Jahr Quelle: 2020
• Band/Heft Quelle: 28(2020), 3, Seite 612-620
• ISSN Quelle: 1558-0210
• DOI: doi:10.1109/TNSRE.2020.2967901
• Datenträger: Online-Ressource
• Sprache: eng
• Sach-SW: artificial limbs
• Sach-SW: biological system modelling
• Sach-SW: biomechanical model
• Sach-SW: Biomechanics
• Sach-SW: biomechatronics
• Sach-SW: computational performance
• Sach-SW: computer simulation
• Sach-SW: control technology
• Sach-SW: electromyography
• Sach-SW: EMG signals
• Sach-SW: finger kinematics
• Sach-SW: finger movement
• Sach-SW: kinematic fidelity
• Sach-SW: mechanical dexterity
• Sach-SW: medical control systems
• Sach-SW: model-based control
• Sach-SW: prosthesis control
• Sach-SW: prosthetic devices
• Sach-SW: prosthetic hand approaches
• Sach-SW: prosthetic hand function
• Sach-SW: prosthetic hands
• Sach-SW: prosthetics
• Sach-SW: real-time control
• Sach-SW: robotic hand
• Sach-SW: user-in-the-loop testing
• K10plus-PPN: 1698340257

Abstract

Prosthetic devices for hand difference have advanced considerably in recent years, to the point where the mechanical dexterity of a state-of-the-art prosthetic hand approaches that of the natural hand. Control options for users, however, have not kept pace, meaning that the new devices are not used to their full potential. Promising developments in control technology reported in the literature have met with limited commercial and clinical success. We have previously described a biomechanical model of the hand that could be used for prosthesis control. The goal of this study was to evaluate the feasibility of this approach in terms of kinematic fidelity of model-predicted finger movement and the computational performance of the model. We show the performance of the model in replicating recorded hand and finger kinematics and find average correlations of 0.89 between modelled and recorded motions; we show that the computational performance of the simulations is fast enough to achieve real-time control with a robotic hand in the loop; and we describe the use of the model for controlling object gripping. Despite some limitations in accessing sufficient driving signals, the model performance shows promise as a controller for prosthetic hands when driven with recorded EMG signals. User-in-the-loop testing with amputees is necessary in future work to evaluate the suitability of available driving signals, and to examine translation of offline results to online performance.