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Improving Fine Control of Grasping Force during Hand–Object Interactions for a Soft Synergy-Inspired Myoelectric Prosthetic Hand
The concept of postural synergies of the human hand has been shown to potentially reduce complexity in the neuromuscular control of grasping. By merging this concept with soft robotics approaches, a multi degrees of freedom soft-synergy prosthetic hand [SoftHand-Pro (SHP)] was created. The mechanica...
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Formato: | Online Artículo Texto |
Lenguaje: | English |
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Frontiers Media S.A.
2018
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Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5767584/ https://www.ncbi.nlm.nih.gov/pubmed/29375360 http://dx.doi.org/10.3389/fnbot.2017.00071 |
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author | Fu, Qiushi Santello, Marco |
author_facet | Fu, Qiushi Santello, Marco |
author_sort | Fu, Qiushi |
collection | PubMed |
description | The concept of postural synergies of the human hand has been shown to potentially reduce complexity in the neuromuscular control of grasping. By merging this concept with soft robotics approaches, a multi degrees of freedom soft-synergy prosthetic hand [SoftHand-Pro (SHP)] was created. The mechanical innovation of the SHP enables adaptive and robust functional grasps with simple and intuitive myoelectric control from only two surface electromyogram (sEMG) channels. However, the current myoelectric controller has very limited capability for fine control of grasp forces. We addressed this challenge by designing a hybrid-gain myoelectric controller that switches control gains based on the sensorimotor state of the SHP. This controller was tested against a conventional single-gain (SG) controller, as well as against native hand in able-bodied subjects. We used the following tasks to evaluate the performance of grasp force control: (1) pick and place objects with different size, weight, and fragility levels using power or precision grasp and (2) squeezing objects with different stiffness. Sensory feedback of the grasp forces was provided to the user through a non-invasive, mechanotactile haptic feedback device mounted on the upper arm. We demonstrated that the novel hybrid controller enabled superior task completion speed and fine force control over SG controller in object pick-and-place tasks. We also found that the performance of the hybrid controller qualitatively agrees with the performance of native human hands. |
format | Online Article Text |
id | pubmed-5767584 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2018 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-57675842018-01-26 Improving Fine Control of Grasping Force during Hand–Object Interactions for a Soft Synergy-Inspired Myoelectric Prosthetic Hand Fu, Qiushi Santello, Marco Front Neurorobot Neuroscience The concept of postural synergies of the human hand has been shown to potentially reduce complexity in the neuromuscular control of grasping. By merging this concept with soft robotics approaches, a multi degrees of freedom soft-synergy prosthetic hand [SoftHand-Pro (SHP)] was created. The mechanical innovation of the SHP enables adaptive and robust functional grasps with simple and intuitive myoelectric control from only two surface electromyogram (sEMG) channels. However, the current myoelectric controller has very limited capability for fine control of grasp forces. We addressed this challenge by designing a hybrid-gain myoelectric controller that switches control gains based on the sensorimotor state of the SHP. This controller was tested against a conventional single-gain (SG) controller, as well as against native hand in able-bodied subjects. We used the following tasks to evaluate the performance of grasp force control: (1) pick and place objects with different size, weight, and fragility levels using power or precision grasp and (2) squeezing objects with different stiffness. Sensory feedback of the grasp forces was provided to the user through a non-invasive, mechanotactile haptic feedback device mounted on the upper arm. We demonstrated that the novel hybrid controller enabled superior task completion speed and fine force control over SG controller in object pick-and-place tasks. We also found that the performance of the hybrid controller qualitatively agrees with the performance of native human hands. Frontiers Media S.A. 2018-01-10 /pmc/articles/PMC5767584/ /pubmed/29375360 http://dx.doi.org/10.3389/fnbot.2017.00071 Text en Copyright © 2018 Fu and Santello. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Neuroscience Fu, Qiushi Santello, Marco Improving Fine Control of Grasping Force during Hand–Object Interactions for a Soft Synergy-Inspired Myoelectric Prosthetic Hand |
title | Improving Fine Control of Grasping Force during Hand–Object Interactions for a Soft Synergy-Inspired Myoelectric Prosthetic Hand |
title_full | Improving Fine Control of Grasping Force during Hand–Object Interactions for a Soft Synergy-Inspired Myoelectric Prosthetic Hand |
title_fullStr | Improving Fine Control of Grasping Force during Hand–Object Interactions for a Soft Synergy-Inspired Myoelectric Prosthetic Hand |
title_full_unstemmed | Improving Fine Control of Grasping Force during Hand–Object Interactions for a Soft Synergy-Inspired Myoelectric Prosthetic Hand |
title_short | Improving Fine Control of Grasping Force during Hand–Object Interactions for a Soft Synergy-Inspired Myoelectric Prosthetic Hand |
title_sort | improving fine control of grasping force during hand–object interactions for a soft synergy-inspired myoelectric prosthetic hand |
topic | Neuroscience |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5767584/ https://www.ncbi.nlm.nih.gov/pubmed/29375360 http://dx.doi.org/10.3389/fnbot.2017.00071 |
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