PDF(Pubmed)
Abstract：
BACKGROUND: Closing the control loop between users and their prostheses by providing artificial sensory feedback is a fundamental step toward the full restoration of lost sensory-motor functions.
METHODS: We propose a novel approach to provide artificial proprioceptive feedback about two degrees of freedom using a single array of 8 vibration motors (compact solution). The performance afforded by the novel method during an online closed-loop control task was compared to that achieved using the conventional approach, in which the same information was conveyed using two arrays of 8 and 4 vibromotors (one array per degree of freedom), respectively. The new method employed Gaussian interpolation to modulate the intensity profile across a single array of vibration motors (compact feedback) to convey wrist rotation and hand aperture by adjusting the mean and standard deviation of the Gaussian, respectively. Ten able-bodied participants and four transradial amputees performed a target achievement control test by utilizing pattern recognition with compact and conventional vibrotactile feedback to control the Hannes prosthetic hand (test conditions). A second group of ten able-bodied participants performed the same experiment in control conditions with visual and auditory feedback as well as no-feedback.
RESULTS: Conventional and compact approaches resulted in similar positioning accuracy, time and path efficiency, and total trial time. The comparison with control condition revealed that vibrational feedback was intuitive and useful, but also underlined the power of incidental feedback sources. Notably, amputee participants achieved similar performance to that of able-bodied participants.
CONCLUSIONS: The study therefore shows that the novel feedback strategy conveys useful information about prosthesis movements while reducing the number of motors without compromising performance. This is an important step toward the full integration of such an interface into a prosthesis socket for clinical use.
METHODS: We propose a novel approach to provide artificial proprioceptive feedback about two degrees of freedom using a single array of 8 vibration motors (compact solution). The performance afforded by the novel method during an online closed-loop control task was compared to that achieved using the conventional approach, in which the same information was conveyed using two arrays of 8 and 4 vibromotors (one array per degree of freedom), respectively. The new method employed Gaussian interpolation to modulate the intensity profile across a single array of vibration motors (compact feedback) to convey wrist rotation and hand aperture by adjusting the mean and standard deviation of the Gaussian, respectively. Ten able-bodied participants and four transradial amputees performed a target achievement control test by utilizing pattern recognition with compact and conventional vibrotactile feedback to control the Hannes prosthetic hand (test conditions). A second group of ten able-bodied participants performed the same experiment in control conditions with visual and auditory feedback as well as no-feedback.
RESULTS: Conventional and compact approaches resulted in similar positioning accuracy, time and path efficiency, and total trial time. The comparison with control condition revealed that vibrational feedback was intuitive and useful, but also underlined the power of incidental feedback sources. Notably, amputee participants achieved similar performance to that of able-bodied participants.
CONCLUSIONS: The study therefore shows that the novel feedback strategy conveys useful information about prosthesis movements while reducing the number of motors without compromising performance. This is an important step toward the full integration of such an interface into a prosthesis socket for clinical use.
摘要：
背景：通过提供人工感觉反馈来关闭使用者及其假体之间的控制回路是完全恢复失去的感觉-运动功能的基本步骤。
方法：我们提出了一种新颖的方法，可以使用8个振动电机的单个阵列（紧凑型解决方案）提供有关两个自由度的人工本体感受反馈。在一个在线闭环控制任务的新方法提供的性能进行了比较，使用传统的方法，其中使用8个和4个振动马达的两个阵列（每个自由度一个阵列）传达相同的信息，分别。新方法采用高斯插值来调制单个振动电机阵列的强度分布（紧凑反馈），通过调整高斯的平均值和标准偏差来传达手腕旋转和手孔径，分别。十名身体健全的参与者和四名经桡骨截肢者通过利用具有紧凑和常规的振动触觉反馈的模式识别来控制Hannes假手（测试条件），进行了目标成就控制测试。第二组10名身体健全的参与者在控制条件下进行了相同的实验，具有视觉和听觉反馈以及无反馈。
结果：传统和紧凑的方法导致相似的定位精度，时间和路径效率，和总审判时间。与控制条件的比较表明，振动反馈是直观和有用的，但也强调了附带反馈源的力量。值得注意的是,截肢者的表现与健全的参与者相似。
结论：因此，该研究表明，新颖的反馈策略传达了有关假体运动的有用信息，同时减少了电动机的数量而又不影响性能。这是朝着将这种接口完全集成到临床使用的假肢接受腔中的重要一步。
方法：我们提出了一种新颖的方法，可以使用8个振动电机的单个阵列（紧凑型解决方案）提供有关两个自由度的人工本体感受反馈。在一个在线闭环控制任务的新方法提供的性能进行了比较，使用传统的方法，其中使用8个和4个振动马达的两个阵列（每个自由度一个阵列）传达相同的信息，分别。新方法采用高斯插值来调制单个振动电机阵列的强度分布（紧凑反馈），通过调整高斯的平均值和标准偏差来传达手腕旋转和手孔径，分别。十名身体健全的参与者和四名经桡骨截肢者通过利用具有紧凑和常规的振动触觉反馈的模式识别来控制Hannes假手（测试条件），进行了目标成就控制测试。第二组10名身体健全的参与者在控制条件下进行了相同的实验，具有视觉和听觉反馈以及无反馈。
结果：传统和紧凑的方法导致相似的定位精度，时间和路径效率，和总审判时间。与控制条件的比较表明，振动反馈是直观和有用的，但也强调了附带反馈源的力量。值得注意的是,截肢者的表现与健全的参与者相似。
结论：因此，该研究表明，新颖的反馈策略传达了有关假体运动的有用信息，同时减少了电动机的数量而又不影响性能。这是朝着将这种接口完全集成到临床使用的假肢接受腔中的重要一步。
