Portable Take-Home System Enables Proportional Control and High-Resolution Data Logging With a Multi-Degree-of-Freedom Bionic Arm.
Portable Take-Home System Enables Proportional Control and High-Resolution Data Logging With a Multi-Degree-of-Freedom Bionic Arm.
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DOI：
10.3389/frobt.2020.559034
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发表时间：
2020
影响因子：
3.4
通讯作者：
Clark GA
中科院分区：
文献类型：
--
作者：
Brinton MR;Barcikowski E;Davis T;Paskett M;George JA;Clark GA
本文介绍了一种便携式假肢控制系统和第一个在家里使用的多自由度，比例控制仿生手臂。该系统使用一个修改的卡尔曼滤波器提供6自由度，实时，比例控制。我们描述了（a）该系统如何训练电机控制算法用于先进的仿生手臂，以及（B）该系统记录EMG，手位置和力传感器值的前所未有的综合数据集的能力。完整的参与者和经桡动脉截肢者使用该系统在实验室和家中进行日常生活活动，包括双手操作任务。这项技术使在家里灵巧的仿生手臂的使用，并提供了一个高时间分辨率的日常使用的基本信息，以确定临床相关性和改善未来的研究先进的仿生手臂的描述。
This paper describes a portable, prosthetic control system and the first at-home use of a multi-degree-of-freedom, proportionally controlled bionic arm. The system uses a modified Kalman filter to provide 6 degree-of-freedom, real-time, proportional control. We describe (a) how the system trains motor control algorithms for use with an advanced bionic arm, and (b) the system's ability to record an unprecedented and comprehensive dataset of EMG, hand positions and force sensor values. Intact participants and a transradial amputee used the system to perform activities-of-daily-living, including bi-manual tasks, in the lab and at home. This technology enables at-home dexterous bionic arm use, and provides a high-temporal resolution description of daily use—essential information to determine clinical relevance and improve future research for advanced bionic arms.