Dataset Information

IMU-Based Wrist Rotation Control of a Transradial Myoelectric Prosthesis.

ABSTRACT: This paper describes a control method intended to facilitate improved control of a myoelectric prosthesis containing a wrist rotator. Rather than exclusively utilizing electromyogram (EMG) for the control of all myoelectric components (e.g., a hand and a wrist), the proposed controller utilizes inertial measurement (from six-axis inertial measurement unit (IMU)) to sense upper arm abduction/adduction, and uses this input to command a wrist rotation velocity. As such, the controller essentially substitutes shoulder abduction/adduction in place of agonist/antagonist EMG to control wrist angular velocity, which preserves EMG for control of the hand (or other arm components). As a preliminary assessment of efficacy, the control method was implemented on a transradial prosthesis prototype with a powered wrist rotator and hand, and experimentally assessed on five able-bodied subjects who wore the prototype using an able-bodied adaptor and one transradial amputee subject while performing assessments representative of activities of daily living. The assessments compared the (timed) performance of the combined EMG/ IMU-based control method with a (conventional) sequential EMG control approach. Results of the assessment indicate that the able-bodied subjects were able to perform the tasks 33% faster on average with the EMG/IMU-based method, relative to a conventional sequential EMG method. The same assessment was subsequently conducted using a single transradial amputee subject, which resulted in similar performance trends, although with a somewhat lessened effect size-specifically, the amputee subject was on average 22% faster in performing tasks with the IMU-based controller.

SUBMITTER: Bennett DA

PROVIDER: S-EPMC10734105 | biostudies-literature | 2018 Feb

REPOSITORIES: biostudies-literature

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IMU-Based Wrist Rotation Control of a Transradial Myoelectric Prosthesis.

Bennett Daniel A DA Goldfarb Michael M

IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society 20170315 2

This paper describes a control method intended to facilitate improved control of a myoelectric prosthesis containing a wrist rotator. Rather than exclusively utilizing electromyogram (EMG) for the control of all myoelectric components (e.g., a hand and a wrist), the proposed controller utilizes inertial measurement (from six-axis inertial measurement unit (IMU)) to sense upper arm abduction/adduction, and uses this input to command a wrist rotation velocity. As such, the controller essentially s ...[more]

PMID: 28320673

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Project description:BackgroundA recent study showed that the gaze patterns of amputee users of myoelectric prostheses differ markedly from those seen in anatomically intact subjects. Gaze behaviour is a promising outcome measures for prosthesis designers, as it appears to reflect the strategies adopted by amputees to compensate for the absence of proprioceptive feedback and uncertainty/delays in the control system, factors believed to be central to the difficulty in using prostheses. The primary aim of our study was to characterise visuomotor behaviours over learning to use a trans-radial myoelectric prosthesis. Secondly, as there are logistical advantages to using anatomically intact subjects in prosthesis evaluation studies, we investigated similarities in visuomotor behaviours between anatomically intact users of a trans-radial prosthesis simulator and experienced trans-radial myoelectric prosthesis users.MethodsIn part 1 of the study, we investigated visuomotor behaviours during performance of a functional task (reaching, grasping and manipulating a carton) in a group of seven anatomically intact subjects over learning to use a trans-radial myoelectric prosthesis simulator (Dataset 1). Secondly, we compared their patterns of visuomotor behaviour with those of four experienced trans-radial myoelectric prosthesis users (Dataset 2). We recorded task movement time, performance on the SHAP test of hand function and gaze behaviour.ResultsDataset 1 showed that while reaching and grasping the object, anatomically intact subjects using the prosthesis simulator devoted around 90% of their visual attention to either the hand or the area of the object to be grasped. This pattern of behaviour did not change with training, and similar patterns were seen in Dataset 2. Anatomically intact subjects exhibited significant increases in task duration at their first attempts to use the prosthesis simulator. At the end of training, the values had decreased and were similar to those seen in Dataset 2.ConclusionsThe study provides the first functional description of the gaze behaviours seen during use of a myoelectric prosthesis. Gaze behaviours were found to be relatively insensitive to practice. In addition, encouraging similarities were seen between the amputee group and the prosthesis simulator group.

Dataset Information

IMU-Based Wrist Rotation Control of a Transradial Myoelectric Prosthesis.

Publications

IMU-Based Wrist Rotation Control of a Transradial Myoelectric Prosthesis.

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