Trajectory Control for 3 Degree-of-Freedom Wrist Prosthesis in Virtual Reality: A Pilot Study

Gloumakov, Yuri; Bimbo, João; Dollar, Aaron M.

doi:10.1109/biorob49111.2020.9224455

Cited by 3 publications

(6 citation statements)

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“…This paper builds upon the authors' previous work, where learned prototypical motions were first developed [16] and tested in a pilot [25], by looking to demonstrate trajectory control as a feasible control method to position and orient the end-effector of various prosthetic devices. A summary of the method that was used to obtain prorotypical motions is included in section II.…”

Section: Trajectory Control -An Effective Strategy For Controlling Mu...mentioning

confidence: 99%

“…A; a full description can be found in [16]. The pilot study [25] indicated that trajectory control was superior to both sequential and simultaneous control on a number of criteria, however, the protocol primarily examined the execution of individual submovements rather than whole tasks, grasping was not required, and testing was limited to a 3 DOF device. In the present work we 1) expand the analysis to a more comprehensive task protocol where tasks are comprised of multiple submovements, 2) analyze 4 DOF and 7 DOF devices, and 3) address the following questions regarding trajectory control use in prosthetic devices: i) does it reduce the time it takes to position and orient the hand, ii) does it help mitigate body compensation, and iii) are there differences in user preference between control methods.…”

Section: Trajectory Control -An Effective Strategy For Controlling Mu...mentioning

confidence: 99%

“…This work was supported by the Congressionally-Directed Medical Research Programs (CDMRP) under grants W81XWH-15-10407 and W81XWH-15-C-0125. The work presented in this paper is an expansion of a preliminary conference publication on the topic [25].…”

Section: Introductionmentioning

confidence: 99%

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Trajectory Control–An Effective Strategy for Controlling Multi-DOF Upper Limb Prosthetic Devices

Gloumakov

Bimbo

Dollar

2022

IEEE Trans. Neural Syst. Rehabil. Eng.

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Despite great innovations in upper-extremity prosthetic hardware in recent decades, controlling a multiple joint upper limb prosthesis such as an elbow/wrist/hand system is still an open clinical challenge, in large part due to an insufficient number of control inputs available to users. While simultaneous control is in its early stages, the common control approach is sequential control, in which joints and grasps are driven one at a time. In this paper, we introduce and evaluate a concept we call trajectory control, that builds upon this approach, in which motions of the wrist, elbow, and shoulder DOFs (and subsets of them) are coupled into predefined sets of coordinated trajectories; to be selected by the user and driven with a single input variable. These trajectories were designed based on an earlier motion study of activities of daily life obtained from human demonstrations. We experimentally evaluate the efficacy of our approach through a human subjects study in which tasks are performed in a virtual environment. The results show that as device complexity increased (i.e. greater number of DOFs corresponding to more proximal amputations), participants were able to complete tasks faster with trajectory control while exhibiting similar levels of body compensation when compared to sequential and simultaneous control. Additionally, participants found trajectory control to be more intuitive and displayed more natural movement.

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Section: Trajectory Control -An Effective Strategy For Controlling Mu...mentioning

confidence: 99%

Section: Trajectory Control -An Effective Strategy For Controlling Mu...mentioning

confidence: 99%

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Trajectory Control–An Effective Strategy for Controlling Multi-DOF Upper Limb Prosthetic Devices

Gloumakov

Bimbo

Dollar

2022

IEEE Trans. Neural Syst. Rehabil. Eng.

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“…These two metrics provide different perspectives, by looking at both the maximum effects of an individual joint and the aggregate effect of multiple joints acting in unison over time. While ROM has been established and utilized by different groups as a practical quantifier of compensation [11], [16], complementing this metric with trajectory lengths provides motion information not captured using ROM alone [12], [13].…”

Section: B Compensation Metrics and Data Analysismentioning

confidence: 99%

“…1a, that enables the study of tenodesis grasp in normative subjects, or individuals without SCI. Adaptor devices have been utilized in transradial prostheses [11], [13], [14], but the TGE is the first developed for tenodesis grasping. In order to study compensatory behaviors in response to TGE, we vary types and orientations of objects as well as location to produce a range of reach-to-grasp movements in 6 subjects, described in Section III.…”

Section: Introductionmentioning

confidence: 99%

Tenodesis Grasp Emulator: Kinematic Assessment of Wrist-Driven Orthotic Control

Chang¹,

Raghid²,

McPherson³

et al. 2021

Preprint

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Wrist-driven orthotics have been designed to assist people with C6-7 spinal cord injury, however, the kinematic constraint imposed by such a control strategy can impede mobility and lead to abnormal body motion. This study characterizes body compensation using the novel Tenodesis Grasp Emulator, an adaptor orthotic that allows for the investigation of tenodesis grasping in subjects with unimpaired hand function. Subjects perform a series of grasp-and-release tasks in order to compare normal (test control) and constrained wrist-driven modes, showing significant compensation as a result of the constraint. A motor-augmented mode is also compared against traditional wrist-driven operation, to explore the potential role of hybrid human-robot control. We find that both the passive wrist-driven and motor-augmented modes fulfill different roles throughout various tasks tested. Thus, we conclude that a flexible control scheme that can alter intervention based on the task at hand holds the potential to reduce compensation in future work.

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Tenodesis Grasp Emulator: Kinematic Assessment of Wrist-Driven Orthotic Control

Chang

Raghid

McPherson

et al. 2022

2022 International Conference on Robotics and Automation (ICRA)

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Wrist-driven orthotics have been designed to assist people with C6-7 spinal cord injury, however, the kinematic constraint imposed by such a control strategy can impede mobility and lead to abnormal body motion. This study characterizes body compensation using the novel Tenodesis Grasp Emulator, an adaptor orthotic that allows for the investigation of tenodesis grasping in subjects with unimpaired hand function. Subjects perform a series of grasp and release tasks in order to compare normal (test control) and constrained wrist-driven modes, showing significant compensation as a result of the constraint. A motor-augmented mode is also compared against traditional wrist-driven operation, to explore the potential role of hybrid human-robot control. We find that both the passive wrist-driven and motor-augmented modes fulfill different roles throughout various tasks tested. Thus, we conclude that a flexible control scheme that can alter intervention based on the task at hand holds the potential to reduce compensation in future work.

show abstract

Trajectory Control for 3 Degree-of-Freedom Wrist Prosthesis in Virtual Reality: A Pilot Study

Cited by 3 publications

References 37 publications

Trajectory Control–An Effective Strategy for Controlling Multi-DOF Upper Limb Prosthetic Devices

Trajectory Control–An Effective Strategy for Controlling Multi-DOF Upper Limb Prosthetic Devices

Tenodesis Grasp Emulator: Kinematic Assessment of Wrist-Driven Orthotic Control

Tenodesis Grasp Emulator: Kinematic Assessment of Wrist-Driven Orthotic Control

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