The effects of static friction and backlash on extended physiological proprioception control of a powered prosthesis

Farrell, Todd R.; Weir, Richard F.; Heckathorne, Craig W.; Childress, Dudley S.

doi:10.1682/jrrd.2004.05.0052

Cited by 25 publications

(11 citation statements)

References 14 publications

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“…However, body-powered systems are still preferred by many users, in large part because of the proprioceptive feedback provided by the control cable, which directly links the end point force, position and velocity of an intact anatomical joint to the prosthetic joint controlled by the cable [1]. This observation is consistent with the fact that patients lacking proprioceptive feedback due to large-fiber neuropathy and other causes suffer from greatly impoverished movement quality, despite having normal muscle strength [2].…”

Section: Introductionmentioning

confidence: 99%

Limb-State Information Encoded by Peripheral and Central Somatosensory Neurons: Implications for an Afferent Interface

Weber

London

Hokanson

et al. 2011

IEEE Trans. Neural Syst. Rehabil. Eng.

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A major issue to be addressed in the development of neural interfaces for prosthetic control is the need for somatosensory feedback. Here, we investigate two possible strategies: electrical stimulation of either dorsal root ganglia (DRG) or primary somatosensory cortex (S1). In each approach, we must determine a model that reflects the representation of limb state in terms of neural discharge. This model can then be used to design stimuli that artificially activate the nervous system to convey information about limb state to the subject. Electrically activating DRG neurons using naturalistic stimulus patterns, modeled on recordings made during passive limb movement, evoked activity in S1 that was similar to that of the original movement. We also found that S1 neural populations could accurately discriminate different patterns of DRG stimulation across a wide range of stimulus pulse-rates. In studying the neural coding of limb-state in S1, we also decoded the kinematics of active limb movement using multi-electrode recordings in the monkey. Neurons having both proprioceptive and cutaneous receptive fields contributed equally to this decoding. Some neurons were most informative of limb state in the recent past, but many others appeared to signal upcoming movements suggesting that they also were modulated by an efference copy signal. Finally, we show that a monkey was able to detect stimulation through a large percentage of electrodes implanted in area 2. We discuss the design of appropriate stimulus paradigms for conveying time-varying limb state information, and the relative merits and limitations of central and peripheral approaches.

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Section: Introductionmentioning

confidence: 99%

Limb-State Information Encoded by Peripheral and Central Somatosensory Neurons: Implications for an Afferent Interface

Weber

London

Hokanson

et al. 2011

IEEE Trans. Neural Syst. Rehabil. Eng.

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“…The prosthetic hand designed in this study cannot provide a complete substitute for lost upper-limb function, but the size of grasped objects might be perceived without visual compensation, unlike the situation with current prosthetic hands. Contractile force and length of the palmaris longus could not be accurately determined using the interface, because the connection between the human body and the system was very loose and the detected muscle force was far lower than the actual value [18].…”

Section: Discussionmentioning

confidence: 99%

“…In muscle tunnel cineplasty [13] or tendon external cineplasty [14], muscle and tendon forces can be transmitted externally from the body. The concept of combining control and feedback through a direct link between physiological movement and movement of an externally powered prosthesis was pioneered by Simpson [15] under the name of extended physiological proprioception (EPP) and has been previously reported for electric-powered prostheses [16][17][18]. Regarding the use of a combination of cineplasty and an externally powered prosthesis as a control method, Weir et al states, "We believe that direct connections that are simple, effective, and comfortable are possible if surgeons, rehabilitation doctors, engineers, prosthetists, etc., work together collaboratively on the control problem" [19].…”

Section: Introductionmentioning

confidence: 99%

Advantages of externally powered prosthesis with feedback system using pseudo-cineplasty

Nambu¹,

Ikebuchi

Taniguchi

et al. 2014

J Rehabil Res Dev

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Abstract-Externally powered upper-limb prostheses are difficult to use because of the lack of sensory feedback. Neuroprostheses have recently been developed for people with upper-limb amputation but are complicated, expensive, and still developing. We therefore designed a simple system by combining pseudo-cineplasty with extended physiological proprioception to provide sensory feedback to the body. We penetrated the palmaris longus tendon percutaneously with a metal ring, similar to that used in body piercing, in a nondisabled subject as a pseudo-cineplasty. The tendon and ring were connected to the system, and a sensory feedback experiment was performed. We investigated the ability of the user to determine the size of an object grasped by the prosthetic hand without visual information. The subject could distinguish between large and small objects with 100% accuracy and between small, medium, and large objects with 80% accuracy. In pseudo-cineplasty, control and sensory feedback are natural because the prosthetic hand is controlled by muscle contraction. Tension transmitted from the prosthetic hand is sensed via muscle spindles and skin sensors. This technique allows only partial sensory feedback but appears to offer several advantages over other human-machine interfaces.

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“…Sliding mode control is a technique that is often used to overcome nonlinear forces inherent to prostheses 22,23,26 and for many different applications like functional electrical stimulation. 23,[27][28][29][30] In this paper, sliding mode control of the prosthetic hand is incorporated into a hybrid force-velocity control scheme 31 so that the user has improved control of the velocity or force of the prosthesis through a single input.…”

Section: Sliding Mode Controllermentioning

confidence: 99%

Enhanced visual feedback for slip prevention with a prosthetic hand

Engeberg

Meek

2012

Prosthetics &Amp; Orthotics International

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Background: Upper limb amputees have no direct sense of the grip force applied by a prosthetic hand; thus, precise control of the applied grip force is difficult for amputees. Since there is little object deformation when rigid objects are grasped, it is difficult for amputees to visually gauge the applied grip force in this situation. Objectives: To determine if the applied grip force from a prosthetic hand can be visually displayed and used to more efficaciously grasp objects. Study Design: Experimental controlled trial. Methods: Force feedback is used in the control algorithm for the prosthetic hand and supplied visually to the user through a bicolor LED experimentally mounted to the thumb. Several experiments are performed by able-bodied test subjects to rate the usefulness of the additional visual feedback when manipulating a clearly visible, brittle object that can break if grasped too firmly. A hybrid force-velocity sliding mode controller is used with and without additional visual force feedback supplied to the operators. Results: Subjective evaluations and success rates from the test subjects indicate a statistically significant reduction in breaking the grasped object when using the prosthesis with the extra visual feedback. Conclusions: The additional visual force feedback can effectively facilitate the manipulation of brittle objects. Clinical relevanceThe novel approach of this research is the implementation of a noninvasive, effective and economic technique to visually indicate the grip force applied by a prosthetic hand to upper limb amputees. This technique provides a statistically significant improvement when handling brittle objects.

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The effects of static friction and backlash on extended physiological proprioception control of a powered prosthesis

Cited by 25 publications

References 14 publications

Limb-State Information Encoded by Peripheral and Central Somatosensory Neurons: Implications for an Afferent Interface

Limb-State Information Encoded by Peripheral and Central Somatosensory Neurons: Implications for an Afferent Interface

Advantages of externally powered prosthesis with feedback system using pseudo-cineplasty

Enhanced visual feedback for slip prevention with a prosthetic hand

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