Evaluation of a Simultaneous Myoelectric Control Strategy for a Multi-DoF Transradial Prosthesis.
Evaluation of a Simultaneous Myoelectric Control Strategy for a Multi-DoF Transradial Prosthesis.
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DOI：
10.1109/tnsre.2020.3016909
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发表时间：
2020-10
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虽然自然运动是由多个关节的流畅协调产生的，但商业上肢假肢仍然仅限于多个自由度 (DoF) 的顺序控制，或者仅限于沿着预定义的模式移动。为了同时控制多个自由度，人们提出了一种概率加权回归（PWR）方法，并且之前在肌内肌电图（EMG）传感器中表现出了良好的性能。本研究旨在评估使用表面 EMG 传感器对多个自由度进行同步和比例控制的 PWR 方法，并将其性能与经典的直接控制策略进行比较。为了提取用户可管理的最大自由度，在虚拟模拟环境中进行了第一次分析，其中包括八名健全受试者和四名截肢受试者。结果表明，虽然使用表面 EMG 会降低 3-DoFs 控制的 PWR 性能，但该算法在 2-DoFs 情况下表现出了出色的效果。最后，使用由 SoftHand Pro 和 RIC 腕屈肌组成的腕部假肢，对截肢者进行了物理实验，对这两种方法进行了比较。结果显示，两种控制器之间的结果相当，但 PWR 方法的手腕激活时间明显更长，表明这种新颖的方法是实现更自然的多自由度控制的可行方向。
While natural movements result from fluid coordination of multiple joints, commercial upper-limb prostheses are still limited to sequential control of multiple degrees of freedom (DoFs), or constrained to move along predefined patterns. To control multiple DoFs simultaneously, a probability-weighted regression (PWR) method has been proposed and has previously shown good performance with intramuscular electromyographic (EMG) sensors. This study aims to evaluate the PWR method for the simultaneous and proportional control of multiple DoFs using surface EMG sensors and compare the performance with a classical direct control strategy. To extract the maximum number of DoFs manageable by a user, a first analysis was conducted in a virtually simulated environment with eight able-bodied and four amputee subjects. Results show that, while using surface EMG degraded the PWR performance for the 3-DoFs control, the algorithm demonstrated excellent achievements in the 2-DoFs case. Finally, the two methods were compared on a physical experiment with amputee subjects using a hand-wrist prosthesis composed of the SoftHand Pro and the RIC Wrist Flexor. Results show comparable outcomes between the two controllers but a significantly higher wrist activation time for the PWR method, suggesting this novel method as a viable direction towards a more natural control of multi-DoFs.