Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs

Generalized Finger Motion Classification Model Based on Motor Unit Voting

Surface electromyogram-based finger motion classification has shown its potential for prosthetic control. However, most current finger motion classification models are subject-specific, requiring calibration when applied to new subjects. Generalized subject-nonspecific models are essential for real-world applications. In this study, the authors developed a subject-nonspecific model based on motor unit (MU) voting. A high-density surface electromyogram was first decomposed into individual MUs. The features extracted from each MU were then fed into a random forest classifier to obtain the finger label (primary prediction). The final prediction was selected by voting for all primary predictions provided by the decomposed MUs. Experiments conducted on 14 subjects demonstrated that our method significantly outperformed traditional methods in the context of subject-nonspecific finger motion classification models.

Exploring augmented grasping capabilities in a multi-synergistic soft bionic hand

BACKGROUND

State-of-the-art bionic hands incorporate hi-tech devices which try to overcome limitations of conventional single grip systems. Unfortunately, their complexity often limits mechanical robustness and intuitive prosthesis control. Recently, the translation of neuroscientific theories (i.e. postural synergies) in software and hardware architecture of artificial devices is opening new approaches for the design and control of upper-limb prostheses.

METHODS

Following these emerging principles, previous research on the SoftHand Pro, which embeds one physical synergy, showed promising results in terms of intuitiveness, robustness, and grasping performance. To explore these principles also in hands with augmented capabilities, this paper describes the SoftHand 2 Pro, a second generation of the device with 19 degrees-of-freedom and a second synergistic layer. After a description of the proposed device, the work explores a continuous switching control method based on a myoelectric pattern recognition classifier.

RESULTS

The combined system was validated using standardized assessments with able-bodied and, for the first time, amputee subjects. Results show an average improvement of more than 30% of fine grasp capabilities and about 10% of hand function compared with the first generation SoftHand Pro.

CONCLUSIONS

Encouraging results suggest how this approach could be a viable way towards the design of more natural, reliable, and intuitive dexterous hands.

Exploring Stiffness Modulation in Prosthetic Hands and Its Perceived Function in Manipulation and Social Interaction

To physically interact with a rich variety of environments and to match situation-dependent requirements, humans adapt both the force and stiffness of their limbs. Reflecting this behavior in prostheses may promote a more natural and intuitive control and, consequently, improve prostheses acceptance in everyday life. This pilot study proposes a method to control a prosthetic robot hand and its impedance, and explores the utility of variable stiffness when performing activities of daily living and physical social interactions. The proposed method is capable of a simultaneous and proportional decoding of position and stiffness intentions from two surface electro-myographic sensors placed over a pair of antagonistic muscles. The feasibility of our approach is validated and compared to existing control modalities in a preliminary study involving one prosthesis user. The algorithm is implemented in a soft under-actuated prosthetic hand (SoftHand Pro). Then, we evaluate the usability of the proposed approach while executing a variety of tasks. Among these tasks, the user interacts with other 12 able-bodied subjects, whose experiences were also assessed. Several statistically significant aspects from the System Usability Scale indicate user's preference of variable stiffness control over low or high constant stiffness due to its reactivity and adaptability. Feedback reported by able-bodied subjects reveal a general tendency to favor soft interaction, i.e., low stiffness, which is perceived more human-like and comfortable. These combined results suggest the use of variable stiffness as a viable compromise between firm control and safe interaction which is worth investigating further.