Reciprocal Kinematic Control: using human-robot dual adaptation to control upper limb assistive devices

Legrand, Mathilde; Montalivet, Étienne de; Richer, Florian; Jarrassé, Nathanaël; Morel, Guillaume

doi:10.31256/hsmr2019.44

Cited by 1 publication

(1 citation statement)

References 5 publications

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“…Significant differences exist with our approach since we propose to control a generic prosthesis: because it aims at replacing a human limb, it must move in accordance with the rest of the human body. This idea was first presented in [30] in which it was verified that using postural compensations as control input does not heighten them. The work of the aforementioned paper is extended here with a detailed explanation of CCC concept, a presentation of an experimental tuning approach, an extensive study of human's response to the prosthesis servoing and a further validation experiment with a congenital amputee participant.…”

Section: Compensations Cancellation Control a General Conceptmentioning

confidence: 99%

Closing the Loop Between Body Compensations and Upper Limb Prosthetic Movements: A Feasibility Study

Legrand

Jarrassé

Montalivet

et al. 2021

IEEE Trans. Med. Robot. Bionics

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To control the robotic joints of an upper limb prosthesis, most existing approaches rely on decoding the user motor intention from electrophysiological signals produced by the subject, and then executing the desired movement. This suffers from important limitations and requires extended training, particularly when a large number of prosthetic joints have to be controlled. Even when they master the control of their prosthesis, many amputees underuse the prosthetic mobility to the benefit of compensatory body movements, whose generation is less expensive and more natural from a cognitive point of view. Indeed, with an arm prosthesis, hand movements result from a combination of human and robotic joint motions. We propose in this paper to use these compensatory motions as an error signal to servo the robotic controller. This approach thus creates a coupling between body compensations and prosthetic movements.To study the feasibility of such a coupling, the concept is tested with ten able-bodied subjects wearing an emulated elbow prosthesis and one congenital arm amputee. The results validate the concept, which allows naive subjects to control the prosthetic joint with no or very short training period.Index Terms-Physical human-robot interaction, prosthetics and exoskeletons, human-in-the-loop and body compensations.

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Section: Compensations Cancellation Control a General Conceptmentioning

confidence: 99%