Enhanced visual feedback for slip prevention with a prosthetic hand
Enhanced visual feedback for slip prevention with a prosthetic hand
复制标题
DOI：
10.1177/0309364612440077
复制
发表时间：
2012-12-01
影响因子：
1.5
通讯作者：
Meek, Sanford
中科院分区：
文献类型：
--
作者：
Engeberg, Erik D.;Meek, Sanford
背景：上肢截肢者对假手所施加的握力没有直接感觉，因此，准确控制所施加的握力对截肢者来说是困难的。研究设计：实验对照试验。方法：将力反馈应用于假手的控制算法中，并通过实验安装在拇指上的双色LED提供给使用者视觉上的反馈。身体健全的测试对象进行了几个实验，以评估当操纵一个清晰可见的易碎物体时，额外视觉反馈的有用性，如果抓得太紧，这些物体可能会破裂。结果：受试者的主观评价和成功率表明，在使用有额外视觉反馈的假肢时，打破被抓物体的情况有统计学意义。结论：额外的视觉反馈可以有效地促进对脆性物体的操纵。临床相关性本研究的新方法是实施一种非侵入性的、有效的和经济的技术来直观地显示假手对上肢截肢者的握力。此技术在处理脆性对象时提供了统计上的显著改进。
Background: Upper limb amputees have no direct sense of the grip force applied by a prosthetic hand; thus, precise control of the applied grip force is difficult for amputees. Since there is little object deformation when rigid objects are grasped, it is difficult for amputees to visually gauge the applied grip force in this situation.Objectives: To determine if the applied grip force from a prosthetic hand can be visually displayed and used to more efficaciously grasp objects.Study Design: Experimental controlled trial.Methods: Force feedback is used in the control algorithm for the prosthetic hand and supplied visually to the user through a bicolor LED experimentally mounted to the thumb. Several experiments are performed by able-bodied test subjects to rate the usefulness of the additional visual feedback when manipulating a clearly visible, brittle object that can break if grasped too firmly. A hybrid force-velocity sliding mode controller is used with and without additional visual force feedback supplied to the operators.Results: Subjective evaluations and success rates from the test subjects indicate a statistically significant reduction in breaking the grasped object when using the prosthesis with the extra visual feedback.Conclusions: The additional visual force feedback can effectively facilitate the manipulation of brittle objects.Clinical relevanceThe novel approach of this research is the implementation of a noninvasive, effective and economic technique to visually indicate the grip force applied by a prosthetic hand to upper limb amputees. This technique provides a statistically significant improvement when handling brittle objects.