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Functionally biarticular control for smart prosthetics
Conference proceeding   Open access

Functionally biarticular control for smart prosthetics

B Gillespie, J Baker, M O'Malley, P Shewokis and J.L Contreras-Vidal
World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp 627-628
Mar 2009
DOI: https://doi.org/10.1109/WHC.2009.4810921
url
https://doi.org/10.1109/whc.2009.4810921View
Published, Version of Record (VoR)CC BY-NC-SA V4.0,  Open

Abstract

Biomedical monitoring Couplings Exoskeletons Force feedback Grippers haptic feedback Muscles Myoelectric control Neural prosthesis Neurofeedback Prosthetics Tendons
In this paper we introduce the use of force feedback in conjunction with myoelectric control to establish an improved interface for a powered prosthetic limb. The force feedback is delivered through a single-axis exoskeleton worn about the elbow, while the EMG signal is derived from the biceps muscle. This combination is intended to produce a sense of effort in the biceps that is associated with the action of the motorized prosthetic gripper. The method engages both efferent and afferent signals innervating a functional muscle with the aim of realizing a muscle that is effectively biarticular. The controlling muscle spans one joint physiologically and a second, prosthetic joint functionally. Preliminary experiments have demonstrated that force feedback can substitute for vision during grasp and lift tasks.

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