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Simultaneous and Proportional Control of Hand Prostheses with Multiple Degrees of Freedom: A New Method of Improving the Training Process

Nowak, Markus (2014) Simultaneous and Proportional Control of Hand Prostheses with Multiple Degrees of Freedom: A New Method of Improving the Training Process. Diploma. DLR-Interner Bericht. DLR/IB 572-2014/28, 138 S.

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Abstract

Limb loss heavily a�ects the quality of daily living. In case of upperlimb loss, activities of daily living (ADLs) become more troublesome, even more when considering fine manipulation. Aid can be provided by prostheses. However, control using muscle signals, e.g. electromyography (EMG), has not yet achieved a level that provides a satisfactorily natural, simultaneous and proportional type of control. By developing a new method called Linearly Enhanced Training (LET) procedure, we seek to advance the current methods of prosthetic hand control towards a more natural way. Over the course of three different experiments, we will first show the potential of the LET procedure, second investigate and compare two models that approximate the composition of the EMG signal of multi-finger motions and eventually perform a validation of one of said models in a goal-based experiment. We found that the parameters of the simpler of the two models show little variance across subjects and motions involving the same number of degrees of freedom (DoFs), here fingers. Based on this model, naive subjects are asked to perform single- and multi-finger motions of the thumb, index and little finger with different levels of intensity. In this goal-based experiment, the subjects achieved on average a 76.1% success rate (SR). In terms of SR, no significant difference between single- and multi-finger motions is evident. We see the lack of difference and the good SR of the LET procedure as a confirmation that the LET procedure is a promising technique to provide simultaneous and proportional control in the area of prosthetics.

Item URL in elib:https://elib.dlr.de/92975/
Document Type:Monograph (DLR-Interner Bericht, Diploma)
Title:Simultaneous and Proportional Control of Hand Prostheses with Multiple Degrees of Freedom: A New Method of Improving the Training Process
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Nowak, Markusmarkus.nowak (at) dlr.deUNSPECIFIED
Date:2014
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:138
Status:Published
Keywords:surface electromyography, prosthetics, rehabilitation robotics, machine learning
Institution:Technische Universität München
Department:Fachgebiet Sportgeräte und -materialien
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Castellini, Dr. Claudio
Deposited On:03 Dec 2014 21:03
Last Modified:03 Dec 2014 21:03

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