scholarly journals Ideas on sensory feedback in hand prostheses

1979 ◽  
Vol 3 (3) ◽  
pp. 157-162 ◽  
Author(s):  
P. Herberts ◽  
L. Körner
Keyword(s):  
Pattern Recognition ◽  
Control Systems ◽  
Future Development ◽  
Sensory Feedback ◽  
Feedback System ◽  
Signal Acquisition ◽  
Feedback Systems ◽  
Proportional Control ◽  
Prosthesis Control ◽  
Further Development

Development of systems for sensory feedback in hand prostheses has not been as successful as that of modern prosthesis control systems. The discrepancy is partly caused by an insufficient analysis of the concept of sensory feedback and by neglect of knowledge on the physiology of kinesthesis. In the present paper modern theories on physiologic kinesthesis are briefly summarized and the implication of these theories on the development of prosthesis sensory feedback systems are discussed. It is concluded that the future development of sensory feedback systems for hand prostheses should be directed towards increased utilization of the physiologic kinesthesis resulting from operation of the prosthesis control systems. This can be obtained by further development of the control systems. One promising approach in this direction is the use of a proportional control signal based on signal acquisition through pattern recognition of multiple myoelectric signals. Development of artificial systems for feedback should be restricted to situations when feedback emerging from the prosthesis control is insufficient. The importance of simplicity and reliability of feedback systems is stressed as well as the necessity to maintain prosthesis self-containment even after application of a feedback system.

scholarly journals Joint speed feedback improves myoelectric prosthesis adaptation after perturbed reaches in non amputees

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Eric J. Earley ◽  
Reva E. Johnson ◽  
Jonathon W. Sensinger ◽  
Levi J. Hargrove
Keyword(s):  
Sensory Feedback ◽  
Feedforward Control ◽  
Feedback System ◽  
Augmented Feedback ◽  
Myoelectric Prosthesis ◽  
Reaching Task ◽  
Prosthesis Control ◽  
High Uncertainty ◽  
Relevant Factors ◽  
Positional Control

AbstractAccurate control of human limbs involves both feedforward and feedback signals. For prosthetic arms, feedforward control is commonly accomplished by recording myoelectric signals from the residual limb to predict the user’s intent, but augmented feedback signals are not explicitly provided in commercial devices. Previous studies have demonstrated inconsistent results when artificial feedback was provided in the presence of vision; some studies showed benefits, while others did not. We hypothesized that negligible benefits in past studies may have been due to artificial feedback with low precision compared to vision, which results in heavy reliance on vision during reaching tasks. Furthermore, we anticipated more reliable benefits from artificial feedback when providing information that vision estimates with high uncertainty (e.g. joint speed). In this study, we test an artificial sensory feedback system providing joint speed information and how it impacts performance and adaptation during a hybrid positional-and-myoelectric ballistic reaching task. We found that overall reaching errors were reduced after perturbed control, but did not significantly improve steady-state reaches. Furthermore, we found that feedback about the joint speed of the myoelectric prosthesis control improved the adaptation rate of biological limb movements, which may have resulted from high prosthesis control noise and strategic overreaching with the positional control and underreaching with the myoelectric control. These results provide insights into the relevant factors influencing the improvements conferred by artificial sensory feedback.

scholarly journals Artificial Joint Speed Feedback for Myoelectric Prosthesis Controls

2020 ◽  
Author(s):  
Eric J. Earley ◽  
Reva E. Johnson ◽  
Jonathon W. Sensinger ◽  
Levi J. Hargrove
Keyword(s):  
Sensory Feedback ◽  
Feedforward Control ◽  
Feedback System ◽  
Modest Improvement ◽  
Myoelectric Prosthesis ◽  
Reaching Task ◽  
Prosthesis Control ◽  
High Uncertainty ◽  
Relevant Factors ◽  
Positional Control

I.AbstractAccurate control of human limbs involves both feedforward and feedback signals. For prosthetic arms, feedforward control is commonly accomplished by recording myoelectric signals from the residual limb to predict the user’s intent, but augmented feedback signals are not explicitly provided in commercial devices. Previous studies have demonstrated inconsistent results when artificial feedback was provided in the presence of vision. We hypothesized that negligible benefits in past studies may have been due to artificial feedback with low precision compared to vision, which results in heavy reliance on vision during reaching tasks. Furthermore, we anticipated more reliable benefits from artificial feedback when providing information that vision estimates with high uncertainty – joint speed. In this study, we test an artificial sensory feedback system providing joint speed information and how it impacts performance and adaptation during a hybrid positional-and-myoelectric ballistic reaching task. We found modest improvement in overall reaching errors after perturbed control, and that high prosthesis control noise was compensated for by strategic overreaching with the positional control and underreaching with the myoelectric control. These results provide insights into the relevant factors influencing the improvements conferred by artificial sensory feedback.

Sensory feedback add-on for upper-limb prostheses

2016 ◽  
Vol 41 (3) ◽  
pp. 314-317 ◽  
Author(s):  
Nader Fallahian ◽  
Hassan Saeedi ◽  
Hamidreza Mokhtarinia ◽  
Farhad Tabatabai Ghomshe
Keyword(s):  
Upper Limb ◽  
Sensory Feedback ◽  
Feedback System ◽  
Technical Note ◽  
High Tech ◽  
Feedback Systems ◽  
Myoelectric Prosthesis ◽  
Upper Limb Prostheses ◽  
Direct Feedback ◽  
A Current

Background and aim:Sensory feedback systems have been of great interest in upper-limb prosthetics. Despite tremendous research, there are no commercial modality-matched feedback systems. This article aims to introduce the first detachable and feedback add-on option that can be attached to in-use prostheses.Technique:A sensory feedback system was tested on a below-elbow myoelectric prosthesis. The aim was to have the amputee grasp fragile objects without crushing while other accidental feedback sources were blocked.Discussion:A total of 8 successful trials (out of 10) showed that sensory feedback system decreased the amputee’s visual dependency by improving awareness of his prosthesis. Sensory feedback system can be used either as post-fabrication (prosthetic add-on option) or para-fabrication (incorporated into prosthetic design). The use of these direct feedback systems can be explored with a current prosthesis before ordering new high-tech prosthesis.Clinical relevanceThis technical note introduces the first attach/detach-able sensory feedback system that can simply be added to in-use (myo)electric prosthesis, with no obligation to change prosthesis design or components.

scholarly journals Neurophysiology of slip sensation and grip reaction: insights for hand prosthesis control of slippage.

2021 ◽  
Author(s):  
Andrea Zangrandi ◽  
Marco D'Alonzo ◽  
Christian Cipriani ◽  
Giovanni Di Pino
Keyword(s):  
Human Physiology ◽  
Sensory Feedback ◽  
Grip Force ◽  
Feedback System ◽  
Hand Movements ◽  
Load Force ◽  
Physiological Basis ◽  
Three Phase ◽  
Phase Slippage ◽  
Prosthesis Control

Sensory feedback is pivotal for a proficient dexterity of the hand. By modulating the grip force in function of the quick and not completely predictable change of the load force, grabbed objects are prevented to slip from the hand. Slippage control is an enabling achievement to all manipulation abilities. However, in hand prosthetics, the performance of even the most innovative research solutions proposed so far to control slippage remain distant from the human physiology. Indeed, slippage control involves parallel and compensatory activation of multiple mechanoceptors, spinal and supraspinal reflexes and higher-order voluntary behavioral adjustments. In this work, we reviewed the literature on physiological correlates of slippage to propose a three-phases model for the slip sensation and reaction. Furthermore, we discuss the main strategies employed so far in the research studies that tried to restore slippage control in amputees. In the light of the proposed three-phase slippage model, and from the weaknesses of already implemented solutions, we proposed several physiology-inspired solutions for slippage control, to be implemented in the future hand prostheses. Understanding the physiological basis of slip detection and perception and implementing them in novel hand feedback system would make prosthesis manipulation more efficient and would boost its perceived naturalness, fostering the sense of agency for the hand movements.

scholarly journals Computing μ-Values for Real and Mixed μ Problems

Mathematics ◽  
2019 ◽  
Vol 7 (9) ◽  
pp. 821
Author(s):  
Mutti-Ur Rehman ◽  
Muhammad Tayyab ◽  
Muhammad Fazeel Anwar
Keyword(s):  
Control Systems ◽  
Numerical Computation ◽  
Feedback System ◽  
Feedback Loops ◽  
Linear Control ◽  
Linear Control Systems ◽  
Linear Feedback ◽  
Feedback Systems ◽  
Perturbed System ◽  
Stability And Instability

In various modern linear control systems, a common practice is to make use of control in the feedback loops which act as an important tool for linear feedback systems. Stability and instability analysis of a linear feedback system give the measure of perturbed system to be singular and non-singular. The main objective of this article is to discuss numerical computation of the μ -values bounds by using low ranked ordinary differential equations based technique. Numerical computations illustrate the behavior of the method and the spectrum of operators are then numerically analyzed.

scholarly journals Assessing the quality of supplementary sensory feedback using a crossmodal congruency task

2017 ◽  
Author(s):  
Daniel Blustein ◽  
Adam Wilson ◽  
Jon Sensinger
Keyword(s):  
Sensory Feedback ◽  
Spatial Separation ◽  
Feedback System ◽  
Feedback Systems ◽  
Prosthetic Limbs ◽  
Extended Training ◽  
And Training ◽  
Crossmodal Congruency Effect ◽  
Crossmodal Congruency

AbstractPeripheral nerve interfaces show promise in making prosthetic limbs more biomimetic and ultimately more intuitive and useful for patients. However, approaches to assess these emerging technologies are limited in their scope and the insight they provide. When outfitting a prosthesis with a new feedback system it would be helpful to quantify its physiological correspondence, i.e. how well the experimental feedback mimics the perceived feedback in an intact limb. Here we present an approach to quantify physiological correspondence using a modified crossmodal congruency task. We trained 60 able-bodied subjects to control a bypass prosthesis under different feedback conditions and training durations. We find that the crossmodal congruency effect (CCE) score is sensitive to changes in feedback modality (multi-way ANOVA; F(2,48) = 6.02, p<0.05). After extended training, the CCE score increased as the spatial separation between expected and perceived feedback decreased (unpaired t-test, p<0.05). We present a model that can quantitatively estimate physiological correspondence given the CCE result and the measured spatial separation of the feedback. This quantification approach gives researchers a tool to assess an aspect of emerging augmented feedback systems that is not measurable with current motor assessments.

Optimal Model Reference Control Scheme Design for Nonlinear Strict-Feedback Systems

2020 ◽  
Vol 38 (9A) ◽  
pp. 1342-1351
Author(s):  
Musadaq A. Hadi ◽  
Hazem I. Ali
Keyword(s):  
Reference Model ◽  
Feedback System ◽  
Optimization Method ◽  
Feedback Systems ◽  
Model Reference ◽  
Scheme Design ◽  
Model Reference Control ◽  
Control Scheme ◽  
Lyapunov Stability Analysis ◽  
Strict Feedback

In this paper, a new design of the model reference control scheme is proposed in a class of nonlinear strict-feedback system. First, the system is analyzed using Lyapunov stability analysis. Next, a model reference is used to improve system performance. Then, the Integral Square Error (ISE) is considered as a cost function to drive the error between the reference model and the system to zero. After that, a powerful metaheuristic optimization method is used to optimize the parameters of the proposed controller. Finally, the results show that the proposed controller can effectively compensate for the strictly-feedback nonlinear system with more desirable performance.

Root-Locus Analysis of Structural Coupling in Control Systems

1959 ◽  
Vol 26 (2) ◽  
pp. 205-209
Author(s):  
R. H. Cannon
Keyword(s):  
Control System ◽  
Control Systems ◽  
Natural Frequency ◽  
Feedback System ◽  
Structural Member ◽  
Root Locus ◽  
Structural Coupling ◽  
Root Locus Analysis ◽  
Platform System ◽  
System Characteristics

Abstract When a feedback system is devised to control a mechanical member that is structurally limber, unstable (“self-excited”) vibrations may be encountered at approximately a natural frequency of the structural member. Cures are generally easy to effect once the phenomena are understood. Two interesting cases are described: ground vibrations of an airplane control system due to a limber fuselage, and vibrations of a stable platform system due to limberness in the platform structure. The investigations are carried out using the root-locus technique, which provides a plot of system characteristics as explicit functions of control strength. In the case of the stable platform, the analysis is found to be more reliable than physical intuition.

Criteria for Recovery of Zero Initial Condition Responses of Unstable Plants Under Input Saturation

2000 ◽  
Author(s):  
Wei Wu ◽  
Suhada Jayasuriya
Keyword(s):  
Initial Conditions ◽  
Input Saturation ◽  
Input Sequence ◽  
Feedback System ◽  
Open Loop ◽  
Feedback Systems ◽  
Bounded Control ◽  
Analysis And Design ◽  
Study Results ◽  
Unstable Plant

Abstract In this paper, we consider the sufficient and/or necessary conditions under which responses of unstable plants with zero initial conditions would be bounded under step inputs. Several possible unstable pole patterns are examined, and corresponding criteria are derived. It is shown that an unstable plant can be stabilized to have bounded responses using an alternate step input sequence. Step inputs simulate the saturated inputs in a feedback system with bounded control, where the closed-loop stability of an unstable plant is really difficult to study. Results from this open-loop study may lend some insight into the analysis and design of such feedback systems under input saturation nonlinearities.

Control Systems for Automotive Vehicle Fuel Economy: A Literature Review

1981 ◽  
Vol 103 (3) ◽  
pp. 173-180 ◽  
Author(s):  
L. M. Sweet
Keyword(s):  
Control Systems ◽  
Combustion Engine ◽  
Control Strategies ◽  
Engine Performance ◽  
Type Systems ◽  
Open Loop ◽  
Feedback Systems ◽  
Fuel Flow ◽  
Loop Feedback ◽  
Hybrid Vehicle Control

This paper is a review of current research on applications of control systems and theory to achieve energy conservation in automotive vehicles. The development of internal combustion engine control systems that modulate fuel flow, air flow, ignition timing and duration, and exhaust gas recirculation is discussed. The relative advantages of physical and empirical models for engine performance are reviewed. Control strategies presented include optimized open-loop schedule type systems, closed-loop feedback systems, and adaptive controllers. The development of power train and hybrid vehicle control systems is presented, including controllers for both conventional transmissions and those employing flywheel energy storage.

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