Novel postural control algorithm for control of multifunctional myoelectric prosthetic hands

作者：Segil Jacob L^*; Weir Richard F ff

来源：Journal of Rehabilitation Research and Development, 2015, 52(4): 449-465.

DOI：10.1682/JRRD.2014.05.0134

• biomechatronics
• electromyography
• EMG
• hand
• limb prosthesis
• multifunctional prosthetic hand
• myoelectric control
• postural control
• transradial prosthesis
• upper-limb prosthesis

The myoelectric controller (MEC) remains a technological bottleneck in the development of multifunctional prosthetic hands. Current MECs require physiologically inappropriate commands to indicate intent and lack effectiveness in a clinical setting. Postural control schemes use surface electromyography signals to drive a cursor in a continuous two-dimensional domain that is then transformed into a hand posture. Here, we present a novel algorithm for a postural controller and test the efficacy of the system during two experiments with 11 total subjects. In the first experiment, we found that performance increased when a velocity cursor-control technique versus a position cursor-control technique was used. Also, performance did not change when using 3, 4, or 12 surface electrodes. In the second experiment, subjects commanded a six degree-of-freedom virtual hand into seven functional postures without training, with completion rates of 82+/-4%, movement times of 3.5+/-0.2 s, and path efficiencies of 45+/-3%. Subjects retained the ability to use the postural controller at a high level across days after a single 1 h training session. Our results substantiate the novel algorithm for a postural controller as a robust and advantageous design for a MEC of multifunction prosthetic hands.

• 出版日期2015