On the Shared Control of an EMG-Controlled Prosthetic Hand: Analysis of User–Prosthesis Interaction
- Тип контента: Научная статья
- Номер документа: 6771
- Название документа: On the Shared Control of an EMG-Controlled Prosthetic Hand: Analysis of User–Prosthesis Interaction
- Номер (DOI, IBSN, Патент): 10.1109/TRO.2007.910708
- Изобретатель/автор: Christian Cipriani, Franco Zaccone, Silvestro Micera, Senior Member, M. Chiara Carrozza
- Правопреемник/учебное заведение: Advanced Robotics Technology and Systems Laboratory, Scuola Superiore Sant’Anna, IMT Lucca Institute
- Дата публикации документа: 2008-02-28
- Страна опубликовавшая документ: Италия
- Язык документа: Английский
- Наименование изделия: Не заполнено
- Источник: IEEE TRANSACTIONS ON ROBOTICS, VOL. 24, NO. 1, FEBRUARY 2008
- Вложения: Да
- Аналитик: Глаголева Елена
Ananthropomorphic underactuated prosthetic hand, endowed with position and force sensors and controlled by means of myoelectric commands, is used to perform experiments of hier-archical shared control. Three different hierarchical control strategies combined with a vibrotactile feedback system have been developed and tested by able-bodied subjects through grasping tasks used in activities of daily living (ADLs). The first goal is to find a good tradeoff between good grasping capabilities and low attention required by the user to complete grasping tasks,without addressing advanced algorithm for electromyographic processing. The second goal is to understand whether a vibrotactile feedback system is subjectively or objectively useful and how it changes users’ performance. Experiments showed that users were able to successfully operate the device in the three control strategies, and that the grasp success increased with more interactive control. Practice has proven that when too much effort is required, subjects do not do their best, preferring, instead, a less-interactive control strategy. Moreover, the experiments showed that when grasping tasks are performed under visual control, the enhanced proprioception offered by a vibrotactile system is practically not exploited. Nevertheless, in subjective opinion, feedback seems to be quite important.
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ТОР 10 аналитиков
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Глаголева Елена - 591
Дмитрий Соловьев - 459
Helix - 218
Ридна Украина))) - 85
Наталья Черкасова - 81
max-orduan - 29
Елена Токай - 15
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