Estimation of Phantom Arm Mechanics About Four Degrees of Freedom After Targeted Muscle Reinnervation
Estimation of Phantom Arm Mechanics About Four Degrees of Freedom After Targeted Muscle Reinnervation
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DOI：
10.1109/tmrb.2019.2895791
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发表时间：
2019-01
期刊：
影响因子：
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通讯作者：
Massimo Sartori;Justin van de Riet;D. Farina
中科院分区：
文献类型：
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作者：
Massimo Sartori;Justin van de Riet;D. Farina
仿生手臂的直观控制需要根据残余肌肉生物电信号来估计截肢者的幻肢运动。肌电臂的功能使用依赖于控制跨越肘部、前臂和腕关节的大自由度（> 3 DOF）的能力。这将确保在任何环境下都能获得最佳的手部方向。作为本文的一部分，我们使用来自接受有针对性的肌肉神经支配的经肱骨截肢者的残肢上的超过 190 个电极记录了高密度肌电图。我们采用聚类来确定与四个幻臂自由度的驱动相关的八个空间分离的通道采样肌电图子集。我们创建了包含 33 个肌肉肌腱单元的幻臂大型肌肉骨骼模型。这首次实现了肌电图驱动的精确模拟，涉及肘部屈曲-伸展、前臂旋前-旋后、腕部屈曲-伸展和桡尺偏斜的复杂幻像关节旋转。这些结果支持了新型仿生肢体的潜力，这些仿生肢体被控制为身体的自然延伸，这是向模仿人类生物功能和坚固性的下一代假肢迈出的重要一步。
The intuitive control of bionic arms requires estimation of amputee’s phantom arm movements from residual muscle bio-electric signals. The functional use of myoelectric arms relies on the ability of controlling large sets of degrees of freedom (>3 DOFs) spanning elbow, forearm, and wrist joints. This would assure optimal hand orientation in any environment. As part of this paper we recorded high-density electromyograms with >190 electrodes from the residual stump of a trans-humeral amputee who underwent targeted muscle reinnervation. We employed clustering to determine eight spatially separated sub-sets of channels sampling electromyograms associated to the actuation of four phantom arm DOFs. We created a large-scale musculoskeletal model of the phantom arm encompassing 33 musculo-tendon units. For the first time, this enabled the accurate electromyography-driven simulation of complex phantom joint rotations about elbow flexion–extension, forearm pronation–supination, wrist flexion–extension, and radial–ulnar deviation. These results support the potential for a new class of bionic limbs that are controlled as natural extensions of the body, an important step toward next-generation prosthetics that mimic human biological functionality and robustness.