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Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
ISBN: 978-1-4244-3858-7
pp: 627-628
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
ABSTRACT
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, 2009, World Haptics Conference, World Haptics Conference 2009, pp. 627-628, doi:10.1109/WHC.2009.4810921
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