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A realistic implementation of ultrasound imaging as a human-machine interface for upper-limb amputees

Sierra González, David und Castellini, Claudio (2013) A realistic implementation of ultrasound imaging as a human-machine interface for upper-limb amputees. Frontiers in Neurorobotics, 7 (17). Frontiers. DOI: 10.3389/fnbot.2013.00017. ISSN 1662-5218.

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Offizielle URL: http://www.frontiersin.org/Journal/10.3389/fnbot.2013.00017/abstract

Kurzfassung

In the past years, especially with the advent of multi-fingered hand prostheses, the rehabilitation robotics community has tried to improve the use of human-machine interfaces to reliably control mechanical artifacts with many degrees of freedom. Ideally, the control schema should be intuitive and reliable, and the calibration (training) short and flexible. This work focuses on medical ultrasound imaging as such an interface. Medical ultrasound imaging is rich in information, fast, widespread, relatively cheap and provides high temporal/spatial resolution; moreover, it is harmless. We already showed that a linear relationship exists between ultrasound image features of the human forearm and the hand kinematic configuration; here we demonstrate that such a relationship also exists between similar features and fingertip forces. An experiment with 10 participants shows that a very fast data collection, namely of zero and maximum forces only and using no force sensors, suffices to train a system that predicts intermediate force values spanning a range of about 20 N per finger with average errors in the range 10–15%. This training approach, in which the ground truth is limited to an “on-off” visual stimulus, constitutes a realistic scenario and we claim that it could be equally used by intact subjects and amputees. The linearity of the relationship between images and forces is furthermore exploited to build an incremental learning system that works online and can be retrained on demand by the human subject. We expect this system to be able in principle to reconstruct an amputee’s imaginary limb, and act as a sensible improvement of, e.g., mirror therapy, in the treatment of phantom-limb pain

Dokumentart:Zeitschriftenbeitrag
Titel:A realistic implementation of ultrasound imaging as a human-machine interface for upper-limb amputees
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Sierra González, Daviddavid.sierragonzalez@dlr.de
Castellini, ClaudioClaudio.Castellini@dlr.de
Datum:Oktober 2013
Erschienen in:Frontiers in Neurorobotics
Referierte Publikation:Ja
In Open Access:Ja
In SCOPUS:Ja
In ISI Web of Science:Ja
Band:7
DOI :10.3389/fnbot.2013.00017
Verlag:Frontiers
ISSN:1662-5218
Status:veröffentlicht
Stichwörter:ultrasound imaging, human-machine interaction, human-machine interfaces, rehabilitation robotics, force control, incremental learning
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - Vorhaben Multisensorielle Weltmodellierung
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Perzeption und Kognition
Hinterlegt von: Dr. Claudio Castellini
Hinterlegt am:17 Dez 2013 09:51
Letzte Änderung:24 Jun 2015 03:03

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