Connan Mathilde, Ruiz Ramírez Eduardo, Vodermayer Bernhard, Castellini Claudio
Cognitive Robotics, Institute of Robotics and Mechatronics, German Aerospace Center (DLR) Wessling, Germany.
Front Neurorobot. 2016 Nov 17;10:17. doi: 10.3389/fnbot.2016.00017. eCollection 2016.
In the frame of assistive robotics, multi-finger prosthetic hand/wrists have recently appeared, offering an increasing level of dexterity; however, in practice their control is limited to a few hand grips and still unreliable, with the effect that pattern recognition has not yet appeared in the clinical environment. According to the scientific community, one of the keys to improve the situation is multi-modal sensing, i.e., using diverse sensor modalities to interpret the subject's intent and improve the reliability and safety of the control system in daily life activities. In this work, we first describe and test a novel wireless, wearable force- and electromyography device; through an experiment conducted on ten intact subjects, we then compare the obtained signals both qualitatively and quantitatively, highlighting their advantages and disadvantages. Our results indicate that force-myography yields signals which are more stable across time during whenever a pattern is held, than those obtained by electromyography. We speculate that fusion of the two modalities might be advantageous to improve the reliability of myocontrol in the near future.
在辅助机器人技术领域，多指假手/手腕最近已出现，其灵巧程度不断提高；然而，在实际应用中，它们的控制仅限于少数几种手部抓握动作，且仍然不可靠，以至于模式识别尚未在临床环境中出现。科学界认为，改善这种状况的关键之一是多模态传感，即使用多种传感器模式来解读使用者的意图，并提高控制系统在日常生活活动中的可靠性和安全性。在这项工作中，我们首先描述并测试了一种新型的无线、可穿戴式力和肌电图设备；通过对10名身体健全的受试者进行的实验，我们随后对获得的信号进行了定性和定量比较，突出了它们的优缺点。我们的结果表明，与肌电图获得的信号相比，力肌电图产生的信号在保持某种模式时随时间更稳定。我们推测，在不久的将来，融合这两种模式可能有利于提高肌电控制的可靠性。
