The Effect of an Automatically Levelling Wrist Control System

Dylan J. A. Brenneis, M. R. Dawson, Hiroki Tanikawa, Jacqueline S. Hebert, J. Carey, P. Pilarski
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引用次数: 2

Abstract

Upper limb loss is a devastating injury for which current prosthetic replacement inadequately compensates. A lack of wrist movement in prostheses due to mechanical design and control system considerations compels prosthetic users to employ compensatory movements using their upper back and shoulder that can eventually result in strain and overuse injuries. One possible means of easing this control burden is to allow a prosthetic wrist to self-regulate, keeping the terminal device of the prosthesis level relative to the ground when appropriate, such as when raising a cup of liquid. This study aims to outline such a wrist control scheme, and evaluate its function in terms of the effect on compensatory movements, objective system performance, and subjective perception of system performance based on user feedback. To that end, twelve able-bodied participants were recruited to control a body-mounted robotic arm using three different control schemes: fixed-wrist (FW), sequential switching (SS), and automatic levelling (AL). The resulting movement strategies were recorded for two different tasks using 3D motion-capture. SS and AL control schemes induced similar movement strategies and less compensation than FW for horizontal movements, while AL reduced shoulder flexion compared to FW and SS for vertical movements. However, AL was ranked less intuitive and less reliable than the FW. AL and SS both seemed to involve more conscious thought to operate than FW. These results suggest that more complex wrist control schemes may indeed be able to eliminate harmful compensatory movements, but reinforce prior observations that control must be reliable and simple to use or people will opt for an easier system.
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自动调平手腕控制系统的效果
上肢丧失是一种毁灭性的伤害,目前的假肢置换无法充分补偿。由于机械设计和控制系统的考虑,假体缺乏手腕运动,迫使假体使用者使用他们的上背部和肩部进行补偿性运动,最终可能导致劳损和过度使用损伤。减轻这种控制负担的一种可能的方法是允许假体手腕自我调节,在适当的时候保持假体的终端设备相对于地面的水平,比如在举起一杯液体的时候。本研究旨在概述这样一种手腕控制方案,并根据用户反馈,从对代偿运动的影响、客观系统性能以及对系统性能的主观感知三个方面评估其功能。为此,研究人员招募了12名健全的参与者,让他们使用三种不同的控制方案来控制安装在身体上的机械臂:固定手腕(FW)、顺序切换(SS)和自动调平(AL)。使用3D动作捕捉技术记录了两种不同任务的运动策略。SS和AL控制方案在水平运动中诱导的运动策略与FW相似,且补偿比FW少,而AL控制方案在垂直运动中比FW和SS减少了肩部屈曲。然而,人工智能的直觉性和可靠性不如FW。与FW相比,ai和SS似乎都需要更多的有意识思维来操作。这些结果表明,更复杂的手腕控制方案可能确实能够消除有害的代偿运动,但强化了先前的观察,即控制必须可靠且易于使用,否则人们将选择更简单的系统。
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