The Effects of Cutaneous Haptic Feedback on EMG-Based Motion Control of a Transfemoral Prosthesis

2016 ◽  
Author(s):  
J. Miles Canino ◽  
Kevin B. Fite
Keyword(s):  
Motion Tracking ◽  
Haptic Feedback ◽  
Experimental Studies ◽  
Control Architecture ◽  
Prosthetic Limb ◽  
Emg Control ◽  
Tracking Tasks ◽  
Pressure Feedback ◽  
Feedback Modalities ◽  
Transfemoral Prosthesis

This paper builds on prior investigations of the electromyogram (EMG) control of a single degree-of-freedom (DOF) transfemoral prosthetic limb, but augmented with mechanical haptic feedback of prosthetic limb state. Preliminary studies were conducted where quasi-static and vibratory cutaneous haptic feedback was provided to subjects performing nonweight-bearing motion tracking tasks with the EMG controlled transfemoral prosthesis. The results of these studies showed that the subjects exhibited improved tracking performance when following pseudo-random step commands under EMG control augmented with static and vibratory haptic feedback cues. The work to be discussed in this paper augments the EMG control architecture to foster improved co-contraction of the instrumented antagonist muscle pair. Using the modified EMG control architecture, experimental studies were conducted to investigate the efficacy of two haptic feedback modalities in conveying information pertinent to single-DOF nonweight-bearing sinusoidal motion tracking tasks. The two haptic feedback modalities investigated were quasi-static pressure feedback provided with pneumatic actuation and vibratory feedback provided by a vibrotactile motor array. Able-bodied test subjects were asked to control the prosthetic knee to follow sinusoidal trajectories with and without visual and haptic feedback. Experimental results show that EMG-control performance in tracking sinusoidal trajectories significantly improves in visually devoid environments when haptic feedback in the form of error-based and pacemaking stimulation patterns are presented to the user.

The Design and Initial Experimental Validation of an Active Myoelectric Transfemoral Prosthesis

2012 ◽  
Vol 6 (1) ◽  
Author(s):  
Carl D. Hoover ◽  
George D. Fulk ◽  
Kevin B. Fite
Keyword(s):  
Neuromuscular Control ◽  
Surface Emg ◽  
Myoelectric Control ◽  
Control Architecture ◽  
Single Subject ◽  
Test Bed ◽  
Real Time Control ◽  
Joint Power ◽  
Time Control ◽  
Transfemoral Prosthesis

This paper describes a single degree-of-freedom active-knee transfemoral prosthesis to be used as a test bed for the development of architectures for myoelectric control. The development of an active-knee transfemoral prosthesis is motivated by the inability of passive commercial prostheses to provide the joint power required at the knee for many activities of daily living such as reciprocal stair ascent, which requires knee power outputs of up to 4 W/kg. Study of myoelectric control based on surface electromyogram (EMG) measurements of muscles in the residual limb is motivated by the desire to restore direct volitional control of the knee using a minimally-invasive neuromuscular control interface. The presented work describes the design of a transfemoral prosthesis prototype including the structure, actuation, instrumentation, electronics, and real-time control architecture. The performance characteristics of the prototype are discussed in the context of the requisite knee energetics for a variety of common locomotive functions. This paper additionally describes the development of a single-subject diagnostic socket with wall-embedded surface EMG electrodes and the implementation of a control architecture for myoelectric modulation of knee impedance. Experimental results of level walking for a single subject with unilateral transfemoral amputation demonstrate the potential for direct EMG-based control of locomotive function.

Haptics: The Present and Future of Artificial Touch Sensation

2018 ◽  
Vol 1 (1) ◽  
pp. 385-409 ◽  
Author(s):  
Heather Culbertson ◽  
Samuel B. Schorr ◽  
Allison M. Okamura
Keyword(s):  
Haptic Feedback ◽  
Haptic Devices ◽  
Present Information ◽  
Touch Sensation ◽  
Haptic Technology ◽  
Feedback Modalities ◽  
Sense Of Touch ◽  
And Control ◽  
Virtual Interactions ◽  
Human Sense

This article reviews the technology behind creating artificial touch sensations and the relevant aspects of human touch. We focus on the design and control of haptic devices and discuss the best practices for generating distinct and effective touch sensations. Artificial haptic sensations can present information to users, help them complete a task, augment or replace the other senses, and add immersiveness and realism to virtual interactions. We examine these applications in the context of different haptic feedback modalities and the forms that haptic devices can take. We discuss the prior work, limitations, and design considerations of each feedback modality and individual haptic technology. We also address the need to consider the neuroscience and perception behind the human sense of touch in the design and control of haptic devices.

scholarly journals A Preliminary Study on the Use of Haptic Feedback to Assist Users with Impaired Arm Coordination During Mouse Interactions

2011 ◽  
Vol 8 (1) ◽  
pp. 13-20
Author(s):  
N. G. Tsagarakis ◽  
D. G. Caldwell
Keyword(s):  
Upper Limb ◽  
Haptic Feedback ◽  
Experimental System ◽  
Tracking Tasks ◽  
Central Nervous System Dysfunction ◽  
Erratic Motion ◽  
Impaired User ◽  
Two Degree Of Freedom ◽  
Assistive Robotic ◽  
Motion Suppression

Physical movement impairments caused by central nervous system dysfunction or by muscle spasms generated from other neurological damage or dysfunction can often make it difficult or impossible for affected individuals to interact with computer generated environments using the conventional mouse interfaces. This work investigates the use of a 2 dimensional haptic device as an assistive robotic aid to minimize the effects of the pathological absence of motor control on the upper limb in impaired users while using a mouse interface. The haptic system used in this research is a two degree of freedom (DOF) Pantograph planar device. To detect the intended user motion, the device is equipped with force sensing allowing the monitoring of the user applied loads. Impedance based techniques are used to develop a “clumsy” motion suppression control system. The erratic motion suppression techniques and the experimental system setup are evaluated in two dimensional tracking tasks using a human subject with failure of the gross coordination of the upper limb muscle movements resulting from a disorder called ‘Muscle Ataxia’. The results presented demonstrate the ability of the system to improve the tracking performance of the impaired user while interacting with a simple computer generated 2D space.

Privacy-Aware Human Motion Tracking with Realtime Haptic Feedback

2015 ◽  
Author(s):  
Wenbing Zhao ◽  
Deborah D. Deborah ◽  
M. Ann Reinthal ◽  
Beth Ekelman ◽  
Glenn Goodman ◽  
...  
Keyword(s):  
Motion Tracking ◽  
Haptic Feedback ◽  
Human Motion ◽  
Human Motion Tracking

Haptic Feedback Applied to Pneumatic Walking

2008 ◽  
Author(s):  
Brian Guerriero ◽  
Wayne Book
Keyword(s):  
Force Control ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Control Method ◽  
Position Tracking ◽  
Bilateral Teleoperation ◽  
Pneumatic Actuators ◽  
Position Controller ◽  
Pressure Feedback ◽  
Foot Position

This paper presents a proposed control method for controlling the foot positions of two robotic legs through direct operator inputs with haptic feedback. The robot consists of two 3-DoF legs driven by pneumatic actuators. A demonstration of the controller shows the tracking performance enhancements of the proposed force-based position controller over a simple differential pressure gain scheduler-based position controller. The proposed controller incorporates pressure feedback to create supplementary force control. Foot position tracking remains within 10% of the commanded reference position, even through the sharp disparities of loading conditions as the actuators are either lifting the weight of the legs or supporting the weight of the robot itself. An operator gives direct foot position commands to the controller through two PHANToM haptic devices. Bilateral teleoperation of the system provides directional force feedback to the operator as a function of foot position error. The proposed controller also decreases the ambient and false forces reflected to the operator while moving the legs through gait cycles.

Preliminary Evaluation of Myoelectric Control of an Active Transfemoral Prosthesis During Stair Ascent

2010 ◽  
Author(s):  
Carl D. Hoover ◽  
Kevin B. Fite
Keyword(s):  
Stance Phase ◽  
Surface Emg ◽  
Control Architecture ◽  
Preliminary Evaluation ◽  
Impedance Model ◽  
Stair Ascent ◽  
Control Interface ◽  
Preliminary Validation ◽  
Finite State ◽  
Transfemoral Prosthesis

This paper presents the development and preliminary validation of a control interface for a transfemoral prosthesis that enables EMG-based control of a powered knee during stair ascent. The approach uses results from non-amputee gait studies of stair ascent in the design of a control architecture that enables EMG modulation of knee torque in a manner biomechanically similar to that exhibited by non-amputee subjects. The myoelectric torque controller is formulated with a finite-state linear impedance model in stance and swing. The stance phase is modulated by surface EMG signals co-activated by antagonist residuum muscles. Preliminary results with a sound-limb subject using a knee immobilizer indicate that the EMG-based control architecture has the potential to enable the amputee to directly generate torque commands appropriate for stair ascent using an actively powered artificial limb.

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