Laboratory of Computer Assisted Medicine, Division of Medical Engineering, Department of Electrical Engineering, Medical Engineering and Computer Science, Offenburg University, Badstr. 24, 77652, Offenburg, Germany.
Laboratory of NeuroScience, Division of Medical Engineering, Department of Electrical Engineering, Medical Engineering and Computer Science, Offenburg University, Badstr. 24, 77652, Offenburg, Germany.
Sci Rep. 2020 Oct 1;10(1):16279. doi: 10.1038/s41598-020-73250-6.
In the field of neuroprosthetics, the current state-of-the-art method involves controlling the prosthesis with electromyography (EMG) or electrooculography/electroencephalography (EOG/EEG). However, these systems are both expensive and time consuming to calibrate, susceptible to interference, and require a lengthy learning phase by the patient. Therefore, it is an open challenge to design more robust systems that are suitable for everyday use and meet the needs of patients. In this paper, we present a new concept of complete visual control for a prosthesis, an exoskeleton or another end effector using augmented reality (AR) glasses presented for the first time in a proof-of-concept study. By using AR glasses equipped with a monocular camera, a marker attached to the prosthesis is tracked. Minimal relative movements of the head with respect to the prosthesis are registered by tracking and used for control. Two possible control mechanisms including visual feedback are presented and implemented for both a motorized hand orthosis and a motorized hand prosthesis. Since the grasping process is mainly controlled by vision, the proposed approach appears to be natural and intuitive.
在神经假肢领域，目前最先进的方法是使用肌电图（EMG）或眼电图/脑电图（EOG/EEG）来控制假肢。然而，这些系统既昂贵又需要长时间校准，容易受到干扰，并且需要患者进行长时间的学习阶段。因此，设计更强大、更适合日常使用并满足患者需求的系统仍然是一个开放的挑战。在本文中，我们提出了一种使用增强现实（AR）眼镜进行假肢、外骨骼或其他末端执行器的完全视觉控制的新概念，这是在概念验证研究中首次提出的。通过使用配备单目摄像头的 AR 眼镜，跟踪附着在假肢上的标记。通过跟踪和使用头部相对于假肢的最小相对运动来注册。为一个机动手矫形器和一个机动手假肢展示并实现了两种可能的包括视觉反馈的控制机制。由于抓取过程主要由视觉控制，因此所提出的方法似乎是自然和直观的。
