World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
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.
B. Gillespie, J. Baker, M. O'Malley, J. L. Contreras-Vidal and P. Shewokis, "Functionally biarticular control for smart prosthetics," World Haptics Conference(WHC), Salt Lake City, UT, USA, 2009, pp. 627-628.