Closed-loop control of a prosthetic finger via evoked proprioceptive information

2021 ◽  
Author(s):  
Luis Vargas ◽  
He (Helen) Huang ◽  
Yong Zhu ◽  
Xiaogang Hu
Keyword(s):  
Closed Loop ◽  
Position Control ◽  
Sensory Information ◽  
Proprioceptive Feedback ◽  
Closed Loop Control ◽  
Proprioceptive Information ◽  
Continuous Control ◽  
Velocity Control ◽  
Loop Control ◽  
Prosthetic Finger

Abstract Objective. Proprioceptive information plays an important role for recognizing and coordinating our limb’s static and dynamic states relative to our body or the environment. In this study, we determined how artificially evoked proprioceptive feedback affected the continuous control of a prosthetic finger. Approach. We elicited proprioceptive information regarding the joint static position and dynamic movement of a prosthetic finger via a vibrotactor array placed around the subject’s upper arm. Myoelectric signals of the finger flexor and extensor muscles were used to control the prosthesis, with or without the evoked proprioceptive feedback. Two control modes were evaluated: the myoelectric signal amplitudes were continuously mapped to either the position or the velocity of the prosthetic joint. Main Results. Our results showed that the evoked proprioceptive information improved the control accuracy of the joint angle, with comparable performance in the position- and velocity-control conditions. However, greater angle variability was prominent during position-control than velocity-control. Without the proprioceptive feedback, the position-control tended to show a smaller angle error than the velocity-control condition. Significance. Our findings suggest that closed-loop control of a prosthetic device can potentially be achieved using non-invasive evoked proprioceptive feedback delivered to intact participants. Moreover, the evoked sensory information was integrated during myoelectric control effectively for both control strategies. The outcomes can facilitate our understanding of the sensorimotor integration process during human-machine interactions, which can potentially promote fine control of prosthetic hands.

The Study of Closed-Loop Position Control System Based on CNC Processing

2014 ◽  
Vol 941-944 ◽  
pp. 2243-2246
Author(s):  
Xin Zhou
Keyword(s):  
Control System ◽  
Machine Tools ◽  
Closed Loop ◽  
Position Control ◽  
Machining Accuracy ◽  
Closed Loop Control ◽  
Loop Control ◽  
Nc Machine ◽  
Nc Machine Tools ◽  
Position Control System

In view of the existing problems of indirect position closed-loop control, a digitized closed-loop control method is presented and a new kind of position control system with fully digitized closed-loop based on that method is developed. In this way, the fully digitized control of cutter trajectory is implemented with the features of digitized driving, digitized measuring and digitized position control, so that the machining accuracy of the NC machine tools is effectively assured. This system has been used on varieties of NC machine tools and very good results have been obtained in the machining of complex precision parts.

scholarly journals Restoring tactile sensations via neural interfaces for real-time force-and-slippage closed-loop control of bionic hands

2019 ◽  
Vol 4 (27) ◽  
pp. eaau9924 ◽  
Author(s):  
Loredana Zollo ◽  
Giovanni Di Pino ◽  
Anna L. Ciancio ◽  
Federico Ranieri ◽  
Francesca Cordella ◽  
...  
Keyword(s):  
Closed Loop ◽  
Cortical Plasticity ◽  
Sensory Information ◽  
Closed Loop Control ◽  
Stick Slip ◽  
Loop Control ◽  
Grasping And Manipulation ◽  
Successful Fulfillment ◽  
Neural Feedback ◽  
Tactile Sensations

Despite previous studies on the restoration of tactile sensation to the fingers and the hand, there are no examples of use of the routed sensory information to finely control a prosthestic hand in complex grasp and manipulation tasks. Here, it is shown that force and slippage sensations can be elicited in an amputee by means of biologically inspired slippage detection and encoding algorithms, supported by a stick-slip model of the performed grasp. A combination of cuff and intraneural electrodes was implanted for 11 weeks in a young woman with hand amputation and was shown to provide close-to-natural force and slippage sensations, paramount for substantially improving manipulative skills with the prosthesis. Evidence is provided about the improvement of the participant’s grasping and manipulation capabilities over time resulting from neural feedback. The elicited tactile sensations enabled the successful fulfillment of fine grasp and manipulation tasks with increasing complexity. Grasp performance was quantitatively assessed by means of instrumented objects and a purposely developed metrics. Closed-loop control capabilities enabled by the neural feedback were compared with those achieved without feedback. Further, the work demonstrates that the described amelioration of motor performance in dexterous tasks had as central neurophysiological correlates changes in motor cortical plasticity and that such changes were not of purely motor origin, but were the effect of a strong and persistent drive of the sensory feedback.

Design and Modelling of a Novel Servovalve Actuated by a Piezoelectric Ring Bender

2015 ◽  
Author(s):  
L. Johan Persson ◽  
Andrew R. Plummer ◽  
Christopher R. Bowen ◽  
Ian Brooks
Keyword(s):  
Mathematical Model ◽  
Closed Loop ◽  
Position Control ◽  
Open Loop ◽  
Closed Loop Control ◽  
Hydraulic Fluid ◽  
Loop Control ◽  
Frequency Responses ◽  
Spool Valve ◽  
The Mathematical Model

This paper describes the design, simulation and testing of a piezoelectric spool valve. An actuator has been connected to the valve and tested under closed loop control. A mathematical model of the valve was produced and a prototype of the valve was tested. The mathematical model is validated against the experimental data. Step and frequency responses for both the valve and actuator are presented. It was found that displacement of the hydraulic fluid by the ring bender had an impact on the valve performance. To reduce the effect of the piezoelectric hysteresis, closed loop spool position control was evaluated. A noticeable difference can be observed between open loop and closed loop performance.

Design of Stepping Motor Position Closed Loop Control System Based on PLC

2011 ◽  
Vol 127 ◽  
pp. 126-129
Author(s):  
Li Hong Wang ◽  
Yue Ling Zhao
Keyword(s):  
Control System ◽  
High Speed ◽  
Closed Loop ◽  
Position Control ◽  
Displacement Sensor ◽  
Closed Loop Control ◽  
Stepping Motor ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System

A stepping motor position closed loop control system was designed, which adopts displacement sensor to examine the position of the load. The system’s hardware constitute was given here, and the pulse control project was given at the same time. It uses the high-speed pulse output of PLC to export the adjustable frequency pulse. The adjustment of the frequency based on the error of initial value and actual value. On one hand, it can realize fast and accurate position control. On the other hand, it can overcome the weakness of losing step. Thus makes the system have better control function.

scholarly journals Closed-loop control of trunk posture improves locomotion through the regulation of leg proprioceptive feedback after spinal cord injury

2018 ◽  
Vol 8 (1) ◽  
Author(s):  
Eduardo Martin Moraud ◽  
Joachim von Zitzewitz ◽  
Jenifer Miehlbradt ◽  
Sophie Wurth ◽  
Emanuele Formento ◽  
...  
Keyword(s):  
Spinal Cord ◽  
Spinal Cord Injury ◽  
Closed Loop ◽  
Proprioceptive Feedback ◽  
Closed Loop Control ◽  
Loop Control ◽  
Cord Injury ◽  
Trunk Posture

scholarly journals Development of adaptive motor control for tactile navigation

2019 ◽  
Author(s):  
Alireza Azarfar ◽  
Tansu Celikel
Keyword(s):  
Motor Control ◽  
Closed Loop ◽  
Sensory Information ◽  
Sensorimotor Control ◽  
Object Localization ◽  
Closed Loop Control ◽  
Active Sensing ◽  
Stationary Target ◽  
Loop Control ◽  
Tactile Navigation

Navigation is a result of complex sensorimotor computation which requires integration of sensory information in allocentric and egocentric coordinates as the brain computes a motor plan to drive navigation. In this active sensing process, motor commands are adaptively regulated based on prior sensory information. In the darkness, rodents commonly rely on their tactile senses, in particular to their whiskers, to gather the necessary sensory information and instruct navigation. Previous research has shown that rodents can process whisker input to guide mobility even prior to whisking onset by the end of the second postnatal week, however, when and how adaptive sensorimotor control of whisker position matures is still not known. Here, we addressed this question in rats longitudinally as animals searched for a stationary target in darkness. The results showed that juvenile rats perform object localization by controlling their body, but not whisker position, based on the expected location of the target. Adaptive, closed-loop, control of whisker position matures only after the third postnatal week. Computational modeling of the active whisking showed the emergence of the closed-loop control of whisker position and reactive retraction, i.e. whisker retraction that ensures the constancy of duration of tactile sampling, facilitate the maturation of sensorimotor exploration strategies during active sensing. These results argue that adaptive motor control of body and whiskers develop sequentially, and sensorimotor control of whisker position emerges later in postnatal development upon the maturation of intracortical sensorimotor circuits.

A Mathematical Model to Analyze the Torque Caused by Fluid–Solid Interaction on a Hydraulic Valve

2016 ◽  
Vol 138 (6) ◽  
Author(s):  
Emma Frosina ◽  
Adolfo Senatore ◽  
Dario Buono ◽  
Kim A. Stelson
Keyword(s):  
Mathematical Model ◽  
Closed Loop ◽  
Position Control ◽  
Axial Flow ◽  
Closed Loop Control ◽  
Spin Effect ◽  
Loop Control ◽  
Spin Effects ◽  
Study Results ◽  
Spool Valve

In this paper, a three-dimensional (3D) computational fluid dynamics (CFD) methodology to improve the performance of hydraulic components will be shown, highlighting the importance that a study in the fluid mechanics field has for their optimization. As known, the valve internal geometry influences proportional spool valve hydraulic performance, axial flow forces, and spin effects on the spool. Axial flow forces and spin effects interact directly with the position control performance of a direct actuating closed-loop control valve, reducing its capability. The goal of this activity is the study of the torque on the spool induced by the flow and using a CFD 3D methodology to identify causes of this phenomenon and to find a general mathematical solution to minimize the spool spin effect. The baseline configuration and the new ones of the proportional four-way three-position closed-loop control spool valve have been studied with a mathematical model. The models were also validated by the experimental data performed in the Hydraulic Lab of the University of Naples. In particular, the tests allowed to measure the torque on the spool varying the oil flow rate, using a dedicated test bench layout where the spool was directly connected to a torque meter. Several geometries have been analyzed to find the best one to minimize spool spin behavior while maintaining an acceptable pressure drop. The study results confirmed the significant improvement of overall component performance.

Experimental Study of Laser Interferometry Based Motion Tracking of a Flexure-Based Mechanism

2013 ◽  
pp. 165-178
Author(s):  
Umesh Bhagat ◽  
Bijan Shirinzadeh ◽  
Yanling Tian
Keyword(s):  
Experimental Study ◽  
Motion Tracking ◽  
Closed Loop ◽  
Position Control ◽  
Laser Interferometry ◽  
Open Loop ◽  
Closed Loop Control ◽  
Open Loop Control ◽  
Loop Control ◽  
Model Based

This paper presents an experimental study of laser interferometry-based closed-loop motion tracking for flexure-based four-bar micro/nano manipulator. To enhance the accuracy of micro/nano manipulation, laser interferometry-based motion tracking control is established with experimental facility. The authors present and discuss open-loop control, model-based closed-loop control, and robust motion tracking closed-loop control for flexure-based mechanism. A comparative error analysis for closed-loop control with capacitive position sensor and laser interferometry feedback is discussed and presented. Model-based closed-loop control shows improvement in position and motion tracking over open-loop control. Robust control demonstrates high precise and accurate motion tracking of flexure-based mechanism compared to the model-based control. With this experimental study, this paper offers evidence that the laser interferometry-based closed-loop control can minimize positioning and tracking errors during dynamic motion, hence realizing high precision motion tracking and accurate position control.

Experimental Study of Laser Interferometry Based Motion Tracking of a Flexure-Based Mechanism

2011 ◽  
Vol 1 (3) ◽  
pp. 31-45 ◽  
Author(s):  
Bijan Shirinzadeh ◽  
Umesh Bhagat ◽  
Yanling Tian
Keyword(s):  
Experimental Study ◽  
Motion Tracking ◽  
Closed Loop ◽  
Position Control ◽  
Laser Interferometry ◽  
Open Loop ◽  
Closed Loop Control ◽  
Open Loop Control ◽  
Loop Control ◽  
Model Based

This paper presents an experimental study of laser interferometry-based closed-loop motion tracking for flexure-based four-bar micro/nano manipulator. To enhance the accuracy of micro/nano manipulation, laser interferometry-based motion tracking control is established with experimental facility. The authors present and discuss open-loop control, model-based closed-loop control, and robust motion tracking closed-loop control for flexure-based mechanism. A comparative error analysis for closed-loop control with capacitive position sensor and laser interferometry feedback is discussed and presented. Model-based closed-loop control shows improvement in position and motion tracking over open-loop control. Robust control demonstrates high precise and accurate motion tracking of flexure-based mechanism compared to the model-based control. With this experimental study, this paper offers evidence that the laser interferometry-based closed-loop control can minimize positioning and tracking errors during dynamic motion, hence realizing high precision motion tracking and accurate position control.

scholarly journals Closed-Loop Control of Active Sensing Movements Regulates Sensory Slip

2018 ◽  
Author(s):  
Debojyoti Biswas ◽  
Luke A. Arend ◽  
Sarah A. Stamper ◽  
Balázs P. Vágvölgyi ◽  
Eric S. Fortune ◽  
...  
Keyword(s):  
Visual Cues ◽  
Closed Loop ◽  
Sensory Information ◽  
Weakly Electric Fish ◽  
Closed Loop Control ◽  
Active Sensing ◽  
Loop Control ◽  
Experimental Apparatus ◽  
Eigenmannia Virescens ◽  
Weakly Electric

SummaryActive sensing involves the production of motor signals for the purpose of acquiring sensory information [1–3]. The most common form of active sensing, found across animal taxa and behaviors, involves the generation of movements—e.g. whisking [4–6], touching [7,8], sniffing [9,10], and eye movements [11]. Active-sensing movements profoundly affect the information carried by sensory feedback pathways [12–15] and are modulated by both top-down goals (e.g. measuring weight vs. texture [1,16]) and bottom-up stimuli (e.g. lights on/off [12]) but it remains unclear if and how these movements are controlled in relation to the ongoing feedback they generate. To investigate the control of movements for active sensing, we created an experimental apparatus for freely swimming weakly electric fish, Eigenmannia virescens, that modulates the gain of reafferent feedback by adjusting the position of a refuge based on real time videographic measurements of fish position. We discovered that fish robustly regulate sensory slip via closed-loop control of active-sensing movements. Specifically, as fish performed the task of maintaining position inside the refuge [17–22], they dramatically up- or down-regulated fore-aft active-sensing movements in relation to a 4-fold change of experimentally modulated reafferent gain. These changes in swimming movements served to maintain a constant magnitude of sensory slip. The magnitude of sensory slip depended on the presence or absence of visual cues. These results indicate that fish use two controllers: one that controls the acquisition of information by regulating feedback from active sensing movements, and another that maintains position in the refuge, a control structure that may be ubiquitous in animals [23,24].

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