Resembled Tactile Feedback for Object Recognition Using a Prosthetic Hand
Resembled Tactile Feedback for Object Recognition Using a Prosthetic Hand
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DOI：
10.1109/lra.2022.3196958
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发表时间：
2022-10-01
影响因子：
5.2
通讯作者：
Hu，Xiaogang
中科院分区：
文献类型：
--
作者：
Vargas，Luis;Huang，He;Hu，Xiaogang
手的触觉反馈对于与物体的交互是必不可少的。在这里，我们评估了人工触觉如何影响识别的对象属性使用肌电控制假手。来自手指屈肌和伸肌的肌电图信号用于连续控制假体关节速度或位置。参与者使用假手抓住不同形状或大小的物体。触觉反馈是由沿着参与者上臂的经皮神经刺激引起的，并根据假肢与物体的接触力进行调制。多通道电刺激针对正中神经和尺神经束，以在不同的手部区域产生相似的触觉。结果表明，参与者可以测量触觉反馈的开始时间，以辨别物体的形状和大小。我们还发现，与速度控制相比，位置控制器导致更高的物体大小识别精度，这可能是由于肌肉激活水平的补充关节位置信息。我们的研究结果表明，非侵入性的触觉反馈可以使有效的物体形状和大小识别假肢控制。评估肌电控制器的触觉反馈可以帮助理解辅助设备控制中涉及的感觉和运动通路之间的相互作用。
Tactile feedback in the hand is essential for interaction with objects. Here, we evaluated how artificial tactile sensation affected the recognition of object properties using a myoelectrically controlled prosthetic hand. Electromyogram signals from the flexor and extensor finger muscles were used to continuously control either prosthetic joint velocity or position. Participants grasped objects of varying shape or size using the prosthetic hand. Tactile feedback was evoked by transcutaneous nerve stimulation along the participant's upper arm and modulated based on the prosthetic-object contact force. Multi-channel electrical stimulation targeted the median and ulnar nerve bundles to produce resembled tactile sensations at distinct hand regions. The results showed that participants could gauge the onset timing of tactile feedback to discern object shape and size. We also found that the position-controller led to a greater recognition accuracy of object size compared with velocity-control, potentially due to supplemental joint position information from muscle activation level. Our findings demonstrate that non-invasive tactile feedback can enable effective object shape and size recognition during prosthetic control. The evaluation of tactile feedback across myoelectric controllers can help understand the interplay between sensory and motor pathways involved in the control of assistive devices.