Johansen Daniel, Cipriani Christian, Popovic Dejan B, Struijk Lotte N S A
IEEE Trans Biomed Eng. 2016 Jul;63(7):1368-76. doi: 10.1109/TBME.2016.2517742. Epub 2016 Jan 13.
The aim of this study was to investigate the feasibility of using an inductive tongue control system (ITCS) for controlling robotic/prosthetic hands and arms.
This study presents a novel dual modal control scheme for multigrasp robotic hands combining standard electromyogram (EMG) with the ITCS. The performance of the ITCS control scheme was evaluated in a comparative study. Ten healthy subjects used both the ITCS control scheme and a conventional EMG control scheme to complete grasping exercises with the IH1 Azzurra robotic hand implementing five grasps. Time to activate a desired function or grasp was used as the performance metric.
Statistically significant differences were found when comparing the performance of the two control schemes. On average, the ITCS control scheme was 1.15 s faster than the EMG control scheme, corresponding to a 35.4% reduction in the activation time. The largest difference was for grasp 5 with a mean AT reduction of 45.3% (2.38 s).
The findings indicate that using the ITCS control scheme could allow for faster activation of specific grasps or functions compared with a conventional EMG control scheme.
For transhumeral and especially bilateral amputees, the ITCS control scheme could have a significant impact on the prosthesis control. In addition, the ITCS would provide bilateral amputees with the additional advantage of environmental and computer control for which the ITCS was originally developed.
本研究旨在探讨使用感应舌控制系统（ITCS）来控制机器人/假肢手和手臂的可行性。
本研究提出了一种新颖的双模态控制方案，用于多抓握机器人手，将标准肌电图（EMG）与ITCS相结合。在一项对比研究中评估了ITCS控制方案的性能。10名健康受试者使用ITCS控制方案和传统的EMG控制方案，通过IH1阿祖拉机器人手完成五种抓握的抓握练习。激活所需功能或抓握的时间用作性能指标。
比较两种控制方案的性能时发现了统计学上的显著差异。平均而言，ITCS控制方案比EMG控制方案快1.15秒，对应激活时间减少35.4%。最大差异出现在抓握5中，平均激活时间减少45.3%（2.38秒）。
研究结果表明，与传统的EMG控制方案相比，使用ITCS控制方案可以更快地激活特定的抓握或功能。
对于经肱骨截肢者，尤其是双侧截肢者，ITCS控制方案可能会对假肢控制产生重大影响。此外，ITCS将为双侧截肢者提供环境和计算机控制的额外优势，而ITCS最初就是为此而开发的。
