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 治疗师与患者合作，确定他们的需求，然后使用 各种组件和技术。改善这一缺乏服务的患者群体的护理的关键是 提供更好的组件，供修复师使用，以创建可能的最佳临床解决方案 每一位病人。 该领域最令人兴奋的发展之一涉及机电一体化的进步，使 制造灵巧的终端设备、手腕旋转器和电动肘部。然而，它们的临床影响是 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，截肢者将处于 能够更好地完成复杂的日常生活、工作和娱乐任务。 因此，我们提出了一种新的基于联合角度变换算法的控制策略，该控制策略 我们称其为滑翔控制器。它承诺为直观的肌电控制提供一个亟需的选择。滑行 控制器将：1)通过提供对截肢者假肢的更大控制来增强截肢者的能力；2)兼容 传统的2部位肌电假体系统；3)最终与先进的8部位系统兼容，因为它们 可供使用；以及4)使用其他制造商的组件，如机电弯头、手腕 旋转器和终端设备。 在这个快速通道的努力中，我们建议：1)Glide控制器的开发和验证，2)第三方 该系统的验证和确认；以及3)滑动控制器在经桡动脉临床研究中的评价 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来提供 假肢医生和他们的患者提供他们可以使用的选项，以最好地服务于每个患者高度个性化的需求。 我们相信，Glide控制器将是假肢工具包的一个重要补充，并将使独立 生活、工作效率和生活的整体享受。

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.