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Simultaneous and Proportional Real-Time Myocontrol of up to three Degrees of Freedom of the Wrist and Hand

Nowak, Markus and Vujaklija, Ivan and Sturma, Agnes and Castellini, Claudio and Farina, Dario (2022) Simultaneous and Proportional Real-Time Myocontrol of up to three Degrees of Freedom of the Wrist and Hand. IEEE Transactions on Biomedical Engineering. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tbme.2022.3194104. ISSN 0018-9294.

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Official URL: https://ieeexplore.ieee.org/document/9840881


Achieving robust, intuitive, simultaneous and proportional control over multiple degrees of freedom (DOFs) is an outstanding challenge in the development of myoelectric prosthetic systems. Since the priority in myoelectric prosthesis solutions is robustness and stability, their number of functions is usually limited. Objective: Here, we introduce a system for intuitive concurrent hand and wrist control, based on a robust feature-extraction protocol and machine-learning. Methods: Using the mean absolute value of high-density EMG, we train a ridgeregressor (RR) on only the sustained portions of the singleDOF contractions and leverage the regressor's inherent ability to provide simultaneous multi-DOF estimates. In this way, we robustly capture the amplitude information of the inputs while harnessing the power of the RR to extrapolate otherwise noisy and often overfitted estimations of dynamic portions of movements. Results: The real-time evaluation of the system on 13 able-bodied participants and an amputee shows that almost all single-DOF tasks could be reached (96% success rate), while at the same time users were able to complete most of the two-DOF (62%) and even some of the very challenging three-DOF tasks (37%). To further investigate the translational potential of the approach, we reduced the original 192-channel setup to a 16-channel configuration and the observed performance did not deteriorate. Notably, the amputee performed similarly well to the other participants, according to all considered metrics. Conclusion: This is the first real-time operated myocontrol system that consistently provides intuitive simultaneous and proportional control over 3-DOFs of wrist and hand, relying on only surface EMG signals from the forearm. Significance: Focusing on reduced complexity, a real-time test and the inclusion of an amputee in the study demonstrate the translational potential of the control system for future applications in prosthetic control.

Item URL in elib:https://elib.dlr.de/187694/
Document Type:Article
Title:Simultaneous and Proportional Real-Time Myocontrol of up to three Degrees of Freedom of the Wrist and Hand
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Vujaklija, IvanAalto University, FinlandUNSPECIFIEDUNSPECIFIED
Sturma, AgnesDepartment of Plastic and Reconstructive Surgery, Medical University of ViennaUNSPECIFIEDUNSPECIFIED
Castellini, ClaudioUNSPECIFIEDhttps://orcid.org/0000-0002-7346-2180UNSPECIFIED
Farina, DarioImperial College, LondonUNSPECIFIEDUNSPECIFIED
Date:26 July 2022
Journal or Publication Title:IEEE Transactions on Biomedical Engineering
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:bionics, hand, high-density EMG, myocontrol, prosthetics, ridge-regression, surface EMG
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Intelligent Mobility (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Nowak, Markus
Deposited On:28 Jul 2022 11:13
Last Modified:28 Jul 2022 11:57

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