Active regulation of grasp stiffness in neuroprosthesis for restoration of hand function in quadriplegics

Author

Crago, Patrick E. ; Lemay, Michel

Author_Institution

Dept. of Biomed. Eng., Case Western Reserve Univ., Cleveland, OH, USA

fYear

1989

Firstpage

902

Abstract

An active, closed-loop stiffness regulation system is being incorporated into a neuroprosthesis for hand grasp for quadriplegic patients. The stiffness regulator controls the activation of the thumb in lateral grasp and the fingers in palmar grasp. The opposing digits are fixed in place by an open-loop system that operates in parallel. A single continuous input specifies the size of grasp opening and the grasp force under a wide range of loading conditions. The parameters of the system can be tuned to specify the static input-output properties of the grasp as well as a stable and rapid response under isometric, compliant and unloaded conditions

Keywords

biocontrol; closed loop systems; force control; muscle; neurophysiology; prosthetics; closed-loop stiffness regulation system; compliant conditions; fingers; grasp force; grasp opening size; grasp stiffness active regulation; hand function restoration; hand grasp; isometric conditions; lateral grasp; loading conditions; neuroprosthesis; open-loop system; palmar grasp; quadriplegics; single continuous input; static input-output properties; thumb; unloaded conditions; Biological control systems; Force control; Force feedback; Force sensors; Medical control systems; Muscles; Open loop systems; Regulators; Switches; Thickness control;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 1989. Images of the Twenty-First Century., Proceedings of the Annual International Conference of the IEEE Engineering in

Conference_Location

Seattle, WA

Type

conf

DOI

10.1109/IEMBS.1989.96039

Filename

96039