Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype

Kühn, Johannes; Ringwald, Johannes; Schappler, Moritz; Johannsmeier, Lars; Haddadin, Sami

doi:10.1109/icra.2019.8794332

Cited by 7 publications

(7 citation statements)

References 17 publications

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“…are also reported for prosthesis control (Bandara et al, 2018; Hochberg et al, 2006; Katyal et al, 2014; Lavely et al, 2012; McFarland and Wolpaw, 2008; McMullen et al, 2013; Vogel et al, 2015). The coordinated control and EEG-based approaches have so far been implemented in research systems due to challenges with individualization, robustness and generalized use for further translation.In the area of semi-autonomous algorithms, the playback of prerecorded skills (trajectories) was shown by (Johannes et al, 2020; Kühn et al, 2019). Madusanka et al showed semi-autonomous task planning supported by multi-modal sensor information, such as computer vision, bio-signals, and motion capturing (Madusanka et al, 2017).…”

Section: A State Of the Artmentioning

confidence: 99%

A transhumeral prosthesis with an artificial neuromuscular system: Sim2real-guided design, modeling, and control

Toedtheide,

Fortunić,

Kühn

et al. 2024

The International Journal of Robotics Research

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In this work we introduce a new type of human-inspired upper-limb prostheses. The Artificial Neuromuscular Prosthesis (ANP) imitates the human neuromuscular system in the sense of its compliance, backdrivability, natural motion, proprioceptive sensing, and kinesthetics. To realize this challenging goal, we introduce a novel human-inspired and simulation-based development paradigm to design the prosthesis mechatronics in correspondence to the human body. The ANP provides body awareness, contact awareness, and human-like contact response, realized via floating base rigid-body models, disturbance observers, and joint impedance control—concepts known from established state-of-the-art robotics. The ANP mechatronics is characterized by a four degrees of freedom (dof) torque-controlled human-like kinematics, a tendon-driven 2-dof wrist, and spatial orientation sensing at a weight of 1.7 kg (without hand and battery). The paper deals with the rigorous mathematical modeling, control, design and evaluation of this device type along initially defined requirements within a single prototype only. The proposed systemic and grasping capabilities are verified under laboratory conditions by an unimpaired user. Future work will increase the technology readiness level of the next generation device, where human studies with impaired users will be done.

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Section: A State Of the Artmentioning

confidence: 99%

A transhumeral prosthesis with an artificial neuromuscular system: Sim2real-guided design, modeling, and control

Toedtheide,

Fortunić,

Kühn

et al. 2024

The International Journal of Robotics Research

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“…Similarly, the motor shaft length is neglected for elbow, wrist and mcp joints, and hence, the graph for this set of joints coincides with all the profiles (Figs. [8][9][10][11][12][13][14][15][16][17][18][19][20][21][22].…”

Section: Analysis Of Kinematic Parameters For the Human Upper Limb Modelmentioning

confidence: 99%

“…A wide range of work has already been carried out in robotics with applications towards rehabilitation and prosthetics. Many researchers have worked for mechanisms with anyone or hybrid of tendon operated [8,9], hydraulic [10] and pneumatic [11] actuated mechanisms (also soft robotics [12][13][14]) and actuator-based mechanisms [15][16][17], and their controllers are developed, which is out of the paper's purview. Computation is one of the essential aspects for analysis is studied in this paper.…”

Section: Introductionmentioning

confidence: 99%

Development of a revolute-type kinematic model for human upper limb using a matrix approach

Gillawat¹

2021

Robotica

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A mathematical model is proposed for a revolute joint mechanism with an n-degree of freedom (DOF). The matrix approach is used for finding the relation between two consecutive links to determine desired link parameters such as position, velocity and acceleration using the forward kinematic approach. The matrix approach was confirmed for a proposed 10 DOF revolute type (R-type) human upper limb model with servo motors at each joint. Two DOFs are considered each at shoulder, elbow and wrist joint, followed by four DOF for the fingers. Two DOFs were considered for metacarpophalangeal (mcp) and one DOF each for proximal interphalangeal (pip) and distal interphalangeal (dip) joints. MATLAB script function was used to evaluate the mathematical model for determining kinematic parameters for all the proposed human upper limb model joints. The simplified method for kinematic analysis proposed in this paper will further simplify the dynamic modeling of any mechanism for determining joint torques and hence, easy to design control system for joint movements.

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“…On the other hand, shared control uses machine intelligence to estimate the intention and reduce the control complexity on the pilot's side. Previous researchers have shown promising results by combining additional visual information with semiautomatic control [13].…”

Section: Introductionmentioning

confidence: 99%

“…Fig 13. Pilot's subjective comparison of her current daily prosthesis with the competition prosthesis (0 = "poor", 5 = "neutral", 10 = "very good")…”

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confidence: 99%

CyberLimb: a novel robotic prosthesis concept with shared and intuitive control

Seppich

Tacca

Chao

et al. 2022

J NeuroEngineering Rehabil

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Background Existing assistive technologies attempt to mimic biological functions through advanced mechatronic designs. In some occasions, the information processing demands for such systems require substantial information bandwidth and convoluted control strategies, which make it difficult for the end-user to operate. Instead, a practical and intuitive semi-automated system focused on accomplishing daily tasks may be more suitable for end-user adoption. Methods We developed an intelligent prosthesis for the Cybathlon Global Edition 2020. The device was designed in collaboration with the prosthesis user (pilot), addressing her needs for the competition and aiming for functionality. Our design consists of a soft robotic-based two finger gripper controlled by a force-sensing resistor (FSR) headband interface, automatic arm angle dependent wrist flexion and extension, and manual forearm supination and pronation for a shared control system. The gripper is incorporated with FSR sensors to relay haptic information to the pilot based on the output of a neural network model that estimates geometries and objects material. Results As a student team of the Munich Institute of Robotics and Machine Intelligence, we achieved 12th place overall in the Cybathlon competition in which we competed against state-of-the-art prosthetic devices. Our pilot successfully accomplished two challenging tasks in the competition. During training sessions, the pilot was able to accomplish the remaining competition tasks except for one. Based on observation and feedback from training sessions, we adapted our developments to fit the user’s preferences. Usability ratings indicated that the pilot perceived the prosthesis to not be fully ergonomic due to the size and weight of the system, but argued that the prosthesis was intuitive to control to perform the tasks from the Cybathlon competition. Conclusions The system provides an intuitive interface to conduct common daily tasks from the arm discipline of the Cybathlon competition. Based on the feedback from our pilot, future improvements include the prosthesis’ reduction in size and weight in order to enhance its mobility. Close collaboration with our pilot has allowed us to continue with the prosthesis development. Ultimately, we developed a simple-to-use solution, exemplifying a new paradigm for prosthesis design, to help assist arm amputees with daily activities.

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Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype

Cited by 7 publications

References 17 publications

A transhumeral prosthesis with an artificial neuromuscular system: Sim2real-guided design, modeling, and control

A transhumeral prosthesis with an artificial neuromuscular system: Sim2real-guided design, modeling, and control

Development of a revolute-type kinematic model for human upper limb using a matrix approach

CyberLimb: a novel robotic prosthesis concept with shared and intuitive control

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