Nonlinear control strategy for a cost effective myoelectric prosthetic hand

The loss of a limb tremendously impacts the life of the affected individual. In the past decades, researchers have been developing artificial limbs that may return some of the missing functions and cosmetics. However, the development of dexterous mechanisms capable of mimicking the function of the human hand is a complex venture. Even though myoelectric prostheses have advanced, several issues remain to be solved before an artificial limb may be comparable to its human counterpart. Moreover, the high cost of advanced limbs prevents their widespread use among the low-income population. This dissertation presents a strategy for the low-level of control of a cost effective robotic hand for prosthetic applications. The main purpose of this work is to reduce the high cost associated with limb replacement. The presented strategy uses an electromyographic signal classifier, which detects user intent by classifying 4 different wrist movements. This information is supplied as 4 different pre-shapes of the robotic hand to the low-level of control for safely and effectively performing the grasping tasks. Two proof-of-concept prototypes were implemented, consisting on five-finger underactuated hands driven by inexpensive DC motors and equipped with low-cost sensors. To overcome the limitations and nonlinearities of inexpensive components, a multi-stage control methodology was designed for modulating the grasping force based on slippage detection and nonlinear force control. A multi-stage control methodology for modulating the grasping force based on slippage detection and nonlinear force control was designed. The two main stages of the control strategy are the force control stage and the detection stage. The control strategy uses the force control stage to maintain a constant level of force over the object. The results of the experiments performed over this stage showed a rising time of less than 1 second, force overshoot of less than 1 N and steady state error of less than 0.15 N. The detection stage is used to monitor any sliding of the object from the hand. The experiments performed over this stage demonstrated a delay in the slip detection process of less than 200 milliseconds. The initial force, and the amount of force incremented after sliding is detected, were adjusted to reduce object displacement. Experiments were then performed to test the control strategy on situations often encountered in the ADL. The results showed that the control strategy was able to detect the dynamic changes in mass of the object and to successfully adjust the grasping force to prevent the object from dropping. The evaluation of the proposed control strategy suggests that this methodology can overcome the limitation of inexpensive sensors and actuators. Therefore, this control strategy may reduce the cost of current myoelectric prosthesis. We believe that the work presented here is a major step towards the development of a cost effective myoelectric prosthetic hand

Tactile myography: an off-line assessment on intact subjects and one upper-limb disabled

Castellini C, Kõiva R, Pasluosta C, Viegas C, Eskofier BM. Tactile myography: an off-line assessment on intact subjects and one upper-limb disabled. Technologies / SI: Assistive Robotics. 2018;6(2): 38.Human-machine interfaces to control prosthetic devices still suffer from scarce dexterity and low reliability; for this reason, the community of assistive robotics is exploring novel solutions to the problem of myocontrol. In this work, we present experimental results pointing in the direction that one such method, namely Tactile Myography (TMG), can improve the situation. In particular, we use a shape-conformable high-resolution tactile bracelet wrapped around the forearm/residual limb to discriminate several wrist and finger activations performed by able-bodied subjects and a trans-radial amputee. Several combinations of features/classifiers were tested to discriminate among the activations. The balanced accuracy obtained by the best classifier/feature combination was on average 89.15% (able-bodied subjects) and 88.72% (amputated subject); when considering wrist activations only, the results were on average 98.44% for the able-bodied subjects and 98.72% for the amputee. The results obtained from the amputee were comparable to those obtained by the able-bodied subjects. This suggests that TMG is a viable technique for myoprosthetic control, either as a replacement of or as a companion to traditional surface electromyography

Future Opportunities for IoT to Support People with Parkinson’s

Recent years have seen an explosion of internet of things (IoT) technologies being released to the market. There has also been an emerging interest in the potentials of IoT devices to support people with chronic health conditions. In this paper, we describe the results of engagements to scope the future potentials of IoT for supporting people with Parkinson’s. We ran a 2-day multi-disciplinary event with professionals with expertise in Parkinson’s and IoT, to explore the opportunities, challenges and benefits. We then ran 4 workshops, engaging 13 people with Parkinson’s and caregivers, to scope out the needs, values and desires that the community has for utilizing IoT to monitor their symptoms. This work contributes a set of considerations for future IoT solutions that might support people with Parkinson’s in better understanding their condition, through the provision of objective measurements that correspond to their, currently unmeasured, subjective experiences

Free-living monitoring of Parkinson’s disease: lessons from the field

Wearable technology comprises miniaturized sensors (e.g. accelerometers) worn on the body and/or paired with mobile devices (e.g. smart phones) allowing continuous patient monitoring in unsupervised, habitual environments (termed free-living). Wearable technologies are revolutionising approaches to healthcare due to their utility, accessibility and affordability. They are positioned to transform Parkinson’s disease (PD) management through provision of individualised, comprehensive, and representative data. This is particularly relevant in PD where symptoms are often triggered by task and free-living environmental challenges that cannot be replicated with sufficient veracity elsewhere. This review concerns use of wearable technology in free-living environments for people with PD. It outlines the potential advantages of wearable technologies and evidence for these to accurately detect and measure clinically relevant features including motor symptoms, falls risk, freezing of gait, gait, functional mobility and physical activity. Technological limitations and challenges are highlighted and advances concerning broader aspects are discussed. Recommendations to overcome key challenges are made. To date there is no fully validated system to monitor clinical features or activities in free living environments. Robust accuracy and validity metrics for some features have been reported, and wearable technology may be used in these cases with a degree of confidence. Utility and acceptability appears reasonable, although testing has largely been informal. Key recommendations include adopting a multi-disciplinary approach for standardising definitions, protocols and outcomes. Robust validation of developed algorithms and sensor-based metrics is required along with testing of utility. These advances are required before widespread clinical adoption of wearable technology can be realise