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Unsupervised Myocontrol of a Virtual Hand Based on a Coadaptive Abstract Motor Mapping

Gigli, Andrea and Gijsberts, Arjan and Castellini, Claudio (2022) Unsupervised Myocontrol of a Virtual Hand Based on a Coadaptive Abstract Motor Mapping. In: 2022 International Conference on Rehabilitation Robotics, ICORR 2022, pp. 1-6. IEEE. International Conference on Rehabilitation Robotics (ICORR), 25-29 Jul 2022, Rotterdam, Netherlands. doi: 10.1109/ICORR55369.2022.9896414. ISBN 978-166548829-7. ISSN 1945-7898.

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Official URL: https://ieeexplore.ieee.org/document/9896414


Applications of simultaneous and proportional control for upper-limb prostheses typically rely on supervised machine learning to map muscle activations to prosthesis movements. This scheme often poses problems for individuals with limb differences, as they may not be able to reliably reproduce the training activations required to construct a natural motor mapping. We propose an unsupervised myocontrol paradigm that eliminates the need for labeled data by mapping the most salient muscle synergies in arbitrary order to a number of predefined prosthesis actions. The paradigm is coadaptive, in the sense that while the user learns to control the system via interaction, the system continually refines the identification of the user’s muscular synergies. Our evaluation consisted of eight subjects without limb-loss performing target achievement control tasks of four actions of the hand and wrist. The subjects achieved comparable performance using the proposed unsupervised myocontrol paradigm and a supervised benchmark method, despite reporting increased mental load with the former.

Item URL in elib:https://elib.dlr.de/191164/
Document Type:Conference or Workshop Item (Poster)
Title:Unsupervised Myocontrol of a Virtual Hand Based on a Coadaptive Abstract Motor Mapping
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Gigli, AndreaUNSPECIFIEDhttps://orcid.org/0000-0001-7049-485XUNSPECIFIED
Castellini, ClaudioUNSPECIFIEDhttps://orcid.org/0000-0002-7346-2180UNSPECIFIED
Date:28 September 2022
Journal or Publication Title:2022 International Conference on Rehabilitation Robotics, ICORR 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 1-6
Keywords:Myocontrol, Unsupervised learning, surface electromyography, abstract motor mapping, motor skill learning
Event Title:International Conference on Rehabilitation Robotics (ICORR)
Event Location:Rotterdam, Netherlands
Event Type:international Conference
Event Dates:25-29 Jul 2022
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: Connan, Mathilde
Deposited On:02 Dec 2022 18:06
Last Modified:02 Dec 2022 18:06

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