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World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Functionally biarticular control for smart prosthetics
Salt Lake City, UT, USA
March 18-March 20
ISBN: 978-1-4244-3858-7
Brent Gillespie, University of Michigan, USA
John Baker, University of Michigan, USA
Marcia O'Malley, Rice University, USA
Patricia Shewokis, Drexel University, USA
Jose Luis Contreras-Vidal, University of Maryland, USA
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.
Citation:
Brent Gillespie, John Baker, Marcia O'Malley, Patricia Shewokis, Jose Luis Contreras-Vidal, "Functionally biarticular control for smart prosthetics," whc, pp.627-628, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009
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