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便携式家用系统可通过多自由度仿生手臂实现比例控制和高分辨率数据记录。

Portable Take-Home System Enables Proportional Control and High-Resolution Data Logging With a Multi-Degree-of-Freedom Bionic Arm.

作者信息

Brinton Mark R, Barcikowski Elliott, Davis Tyler, Paskett Michael, George Jacob A, Clark Gregory A

机构信息

Biomedical Engineering, University of Utah, Salt Lake City, UT, United States.

Ripple Neuro, Salt Lake City, UT, United States.

出版信息

Front Robot AI. 2020 Sep 25;7:559034. doi: 10.3389/frobt.2020.559034. eCollection 2020.

DOI:10.3389/frobt.2020.559034
PMID:33501323
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7805650/
Abstract

This paper describes a portable, prosthetic control system and the first at-home use of a multi-degree-of-freedom, proportionally controlled bionic arm. The system uses a modified Kalman filter to provide 6 degree-of-freedom, real-time, proportional control. We describe (a) how the system trains motor control algorithms for use with an advanced bionic arm, and (b) the system's ability to record an unprecedented and comprehensive dataset of EMG, hand positions and force sensor values. Intact participants and a transradial amputee used the system to perform activities-of-daily-living, including bi-manual tasks, in the lab and at home. This technology enables at-home dexterous bionic arm use, and provides a high-temporal resolution description of daily use-essential information to determine clinical relevance and improve future research for advanced bionic arms.

摘要

本文介绍了一种便携式假肢控制系统以及首个在家中使用的多自由度、比例控制的仿生手臂。该系统使用改进的卡尔曼滤波器来提供6自由度的实时比例控制。我们描述了（a）该系统如何训练用于先进仿生手臂的运动控制算法，以及（b）该系统记录肌电图、手部位置和力传感器值的前所未有的全面数据集的能力。健全的参与者和一名经桡骨截肢者使用该系统在实验室和家中进行日常生活活动，包括双手任务。这项技术使在家中灵活使用仿生手臂成为可能，并提供了高时间分辨率的日常使用基本信息描述，以确定临床相关性并改进未来对先进仿生手臂的研究。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/defc49d18fba/frobt-07-559034-g0007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/aa1f7dd42756/frobt-07-559034-g0001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/7353560e3bab/frobt-07-559034-g0002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/0a4b354ab293/frobt-07-559034-g0003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/48bbbb83fc79/frobt-07-559034-g0004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/3116ef58efa5/frobt-07-559034-g0005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/b7102bfec5cf/frobt-07-559034-g0006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/defc49d18fba/frobt-07-559034-g0007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/aa1f7dd42756/frobt-07-559034-g0001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/7353560e3bab/frobt-07-559034-g0002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/0a4b354ab293/frobt-07-559034-g0003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/48bbbb83fc79/frobt-07-559034-g0004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/3116ef58efa5/frobt-07-559034-g0005.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/d629/7805650/defc49d18fba/frobt-07-559034-g0007.jpg

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本文引用的文献

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Sci Robot. 2019 Jul 24;4(32). doi: 10.1126/scirobotics.aax2352.
2
Intensity Discriminability of Electrocutaneous and Intraneural Stimulation Pulse Frequency in Intact Individuals and Amputees.健全个体和截肢者中皮肤电刺激与神经内刺激脉冲频率的强度辨别能力
Annu Int Conf IEEE Eng Med Biol Soc. 2020 Jul;2020:3893-3896. doi: 10.1109/EMBC44109.2020.9176720.
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Bilaterally Mirrored Movements Improve the Accuracy and Precision of Training Data for Supervised Learning of Neural or Myoelectric Prosthetic Control.
物联网在实验室外义肢研究中的应用。
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Towards User-Centred Prosthetics Research Beyond the Laboratory.迈向超越实验室的以用户为中心的假肢研究。
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