Improving internal model strength and performance of prosthetic hands using augmented feedback

AbstractMyoelectric prosthetic devices are commonly used to help upper limb amputees perform activities of daily living, however amputees still lack the sensory feedback required to facilitate reliable and precise control. Augmented feedback may play an important role in affecting both short-term performance, through real-time regulation, and long-term performance, through the development of stronger internal models. In this work, we investigate the potential tradeoff between controllers that enable better short-term performance and those that provide sufficient feedback to develop a strong internal model. We hypothesize that augmented feedback may be used to mitigate this tradeoff, ultimately improving both short and long-term control. We used psychometric measures to assess the internal model developed while using a filtered myoelectric controller with augmented audio feedback, imitating classification-based control but with augmented regression-based feedback. In addition, we evaluated the short-term performance using a multi degree-of-freedom constrained-time target acquisition task. Results obtained from 24 able-bodied subjects show that an augmented feedback control strategy using audio cues enables the development of a stronger internal model than the filtered control with filtered feedback, and significantly better path efficiency than both raw and filtered control strategies. These results suggest that the use of augmented feedback control strategies may improve both short-term and long-term performance.

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Study on Design and Performance Specifications of the Prosthetic Hands

10.1007/978-981-16-5371-1_12 ◽

2021 ◽

pp. 119-135

Author(s):

Mohd Azeem ◽

Aasiya Parveen

Keyword(s):

Prosthetic Hands ◽

Performance Specifications ◽

And Performance

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Android Hands: A State-of-the-Art Report

Volume 3: Engineering Systems; Heat Transfer and Thermal Engineering; Materials and Tribology; Mechatronics; Robotics ◽

10.1115/esda2014-20564 ◽

2014 ◽

Cited By ~ 3

Author(s):

Evgenios Vlachos ◽

Henrik Schärfe

Keyword(s):

Literature Review ◽

State Of The Art ◽

Structure Functions ◽

Social Robot ◽

The State ◽

Human Hand ◽

Prosthetic Hands ◽

Available Technology ◽

And Performance ◽

Humanoid Hand

Humans have adjusted their space, their actions, and their performed tasks according to their morphology, abilities, and limitations. Thus, the properties of a social robot should fit within these predetermined boundaries when, and if it is beneficial for the user, and the notion of the task. On such occasions, android and humanoid hand models should have similar structure, functions, and performance as the human hand. In this paper we present the anatomy, and the key functionalities of the human hand followed by a literature review on android/humanoid hands for grasping and manipulating objects, as well as prosthetic hands, in order to inform roboticists about the latest available technology, and assist their efforts to describe the state-of-the-art in this field.

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