DocumentCode :
1017057
Title :
On the Shared Control of an EMG-Controlled Prosthetic Hand: Analysis of User–Prosthesis Interaction
Author :
Cipriani, Christian ; Zaccone, Franco ; Micera, Silvestro ; Carrozza, M. Chiara
Author_Institution :
IMT Lucca Inst. for Adv. Studies, Lucca
Volume :
24
Issue :
1
fYear :
2008
Firstpage :
170
Lastpage :
184
Abstract :
An anthropomorphic underactuated prosthetic hand, endowed with position and force sensors and controlled by means of myoelectric commands, is used to perform experiments of hierarchical shared control. Three different hierarchical control strategies combined with a vibrotactile feedback system have been developed and tested by able-bodied subjects through grasping tasks used in activities of daily living (ADLs). The first goal is to find a good tradeoff between good grasping capabilities and low attention required by the user to complete grasping tasks, without addressing advanced algorithm for electromyographic processing. The second goal is to understand whether a vibrotactile feedback system is subjectively or objectively useful and how it changes users´ performance. Experiments showed that users were able to successfully operate the device in the three control strategies, and that the grasp success increased with more interactive control. Practice has proven that when too much effort is required, subjects do not do their best, preferring, instead, a less-interactive control strategy. Moreover, the experiments showed that when grasping tasks are performed under visual control, the enhanced proprioception offered by a vibrotactile system is practically not exploited. Nevertheless, in subjective opinion, feedback seems to be quite important.
Keywords :
biomechanics; force control; position control; prosthetics; EMG-controlled prosthetic hand; anthropomorphic underactuated prosthetic hand; grasping tasks; myoelectric commands; position sensors; proprioception; user-prosthesis interaction; vibrotactile system; Biorobotics; electromyographic (EMG) classification; prosthetic hand; shared control; vibrotactile feedback;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2007.910708
Filename :
4407739
Link To Document :
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