A biomimetic controller for a multifinger prosthesis.
A biomimetic controller for a multifinger prosthesis.
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DOI：
10.1109/86.769401
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发表时间：
1999-06-01
期刊：
影响因子：
--
通讯作者：
Craelius, W
中科院分区：
文献类型：
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作者：
Abboudi, R L;Glass, C A;Craelius, W
一种新的控制器的多指手假肢的开发和测试，以衡量其准确性和性能，在个人的“幻影”手指的意志信号转导。气动传感器由开孔聚合物泡沫制成，并插入与个人手指屈曲相关的假肢接受腔和浅表外源性肌腱之间。提示测试对象移动单个手指或其组合以执行轻击或抓握。传感器输出由计算机处理，该计算机控制机械假肢上的单个手指的运动。三个上肢截肢者的试验表明，经过短暂的训练课程，TAP控制器是有效的，在生产个人手指和抓取运动的自愿弯曲。信号能量在5和25 dB之间，相对于来自所有来源的噪声，包括相邻的传感器，这表明肌腱相关转导的高度敏感性和特异性。手指弯曲每秒重复三次，连续的手指有节奏的敲击很容易被转换。一名截肢者能够用三根手指以大约四分之一的正常克里思演奏一段简短的钢琴曲。TAP传感器对来自各个手指的分级力作出线性响应，表明成比例的力控制。我们的研究结果表明，恢复一定程度的手指灵巧的非侵入性传感外源性肌腱的可行性。
A novel controller for a multifinger hand prosthesis was developed and tested to measure its accuracy and performance in transducing volitional signals for individual "phantom" fingers. Pneumatic sensors were fabricated from open-cell polymeric foam, and were interposed between the prosthetic socket and superficial extrinsic tendons associated with individual finger flexion. Test subjects were prompted to move individual fingers or combinations thereof to execute either taps or grasps. Sensor outputs were processed by a computer that controlled motions of individual fingers on a mechanical prosthesis. Trials on three upper-limb amputees showed that after brief training sessions, the TAP controller was effective at producing voluntary flexions of individual fingers and grasping motions. Signal energies were between 5 and 25 dB relative to noise from all sources, including adjacent sensors, indicating high degrees of both sensitivity and specificity for tendon-associated transduction. Finger flexions at up to three repetitions per second, and rhythmic tapping of sequential fingers were readily transduced. One amputee subject was able to play a short piano piece with three fingers, at approximately one-quarter normal tempo. TAP sensors responded linearly to graded forces from individual fingers, indicating proportional force control. Our results demonstrate the feasibility of restoring some degree of finger dexterity by noninvasive sensing of extrinsic tendons.