Joint angle transform based methodology for controlling upper limb prostheses

上肢截肢者的护理是个性化医疗的一个很好的例子。修复师和职业 治疗师与患者一起工作，以确定他们的需求，然后使用 各种组件和技术。改善这一服务不足的患者群体的护理的关键是 提供更好的组件，可供修复师使用，以创造最佳的临床解决方案， 每一个病人。 该领域最令人兴奋的发展之一涉及机电一体化的进步， 创造灵巧的终端设备，手腕旋转器和动力肘。然而，它们的临床影响 由于缺乏有效的肌电控制策略而受到限制。如果这是可用的，截肢者将在一个 更好地完成日常生活，工作和娱乐的复杂任务。 因此，我们提出了一种新的控制策略的发展的基础上，关节角度变换算法， 我们称之为滑翔控制器它有望为直观的肌电控制提供急需的选择。格莱德 控制器将：1）通过对假肢提供更大的控制来增强截肢者的能力; 2）与 传统的2点EMG假体系统; 3）最终与先进的8点系统兼容，因为它们 成为可用;和4）与其他制造商的组件，如机电肘，手腕 旋转器和终端设备。 在这个快速通道的努力，我们建议：1）滑翔控制器的开发和验证，2）第三方 系统的验证和确认;以及3）在经桡动脉临床研究中评价滑动控制器 截肢者 我们的长期目标是提供一套可互操作的硬件和软件技术， 修复师和他们的病人的选择，他们可以使用，以最好地服务于每个病人的高度个性化的需求。 我们相信，滑翔控制器将是一个伟大的除了假肢工具集，并将使独立的 生活、工作效率和整体生活享受。

Care of upper limb amputees is a great example of personalized medicine. Prosthetists and occupational therapists work with patients to identify their needs, and then to create a highly individualized solution using a variety of components and technologies. The key to improving care in this underserved patient population is to provide better components which can be used by prosthetists to create the best possible clinical solution for each patient. One of the most exciting developments in the field relates to the mechatronic advances which have enabled the creation of dexterous terminal devices, wrist rotators and powered elbows. However, their clinical impact has been limited by a lack of effective myoelectric control strategies. If this was available, amputees would be in a much better position to accomplish complex tasks of daily living, working, and playing. Thus, we propose the development of a novel control strategy based on a joint angle transform algorithm, which we call the Glide Controller. It promises to offer a much needed option for intuitive myoelectric control. The Glide Controller will: 1) empower amputees by providing greater control over their prosthesis; 2) be compatible with traditional 2-site EMG prosthetic systems; 3) eventually be compatible with advanced 8-site systems as they become available; and 4) work with components from other manufacturers, such as mechatronic elbows, wrist rotators, and terminal devices. In this Fast Track effort, we propose: 1) the development and verification of the Glide Controller, 2) the thirdparty verification and validation of the system; and 3) evaluation of the Glide Controller in a clinical study of transradial amputees. It is our long-term goal to provide a suite of interoperable hardware and software technologies to provide prosthetists and their patients with options they can use to best serve the highly individual needs of each patient. We believe that the Glide Controller will be a great addition to the prosthetist toolset and will enable independent living, work productivity, and overall enjoyment of life.