An exploration of grip force regulation with a low-impedance myoelectric prosthesis featuring referred haptic feedback
Identifieur interne : 003D80 ( Ncbi/Curation ); précédent : 003D79; suivant : 003D81An exploration of grip force regulation with a low-impedance myoelectric prosthesis featuring referred haptic feedback
Auteurs : Jeremy D. Brown [États-Unis] ; Andrew Paek [États-Unis] ; Mashaal Syed [États-Unis] ; Marcia K. O Alley [États-Unis] ; Patricia A. Shewokis [États-Unis] ; Jose L. Contreras-Vidal [États-Unis] ; Alicia J. Davis [États-Unis] ; R. Brent Gillespie [États-Unis]Source :
- Journal of NeuroEngineering and Rehabilitation [ 1743-0003 ] ; 2015.
English descriptors
- KwdEn :
- MESH :
- physiology : Feedback, Sensory, Hand Strength.
- rehabilitation : Amputees.
- Adult, Artificial Limbs, Electric Impedance, Female, Forearm, Humans, Male, Young Adult.
Abstract
Haptic display technologies are well suited to relay proprioceptive, force, and contact cues from a prosthetic terminal device back to the residual limb and thereby reduce reliance on visual feedback. The ease with which an amputee interprets these haptic cues, however, likely depends on whether their dynamic signal behavior corresponds to expected behaviors—behaviors consonant with a natural limb coupled to the environment. A highly geared motor in a terminal device along with the associated high back-drive impedance influences dynamic interactions with the environment, creating effects not encountered with a natural limb. Here we explore grasp and lift performance with a backdrivable (low backdrive impedance) terminal device placed under proportional myoelectric position control that features referred haptic feedback.
We fabricated a back-drivable terminal device that could be used by amputees and non-amputees alike and drove aperture (or grip force, when a stiff object was in its grasp) in proportion to a myoelectric signal drawn from a single muscle site in the forearm. In randomly ordered trials, we assessed the performance of N=10 participants (7 non-amputee, 3 amputee) attempting to grasp and lift an object using the terminal device under three feedback conditions (no feedback, vibrotactile feedback, and joint torque feedback), and two object weights that were indiscernible by vision.
Both non-amputee and amputee participants scaled their grip force according to the object weight. Our results showed only minor differences in grip force, grip/load force coordination, and slip as a function of sensory feedback condition, though the grip force at the point of lift-off for the heavier object was significantly greater for amputee participants in the presence of joint torque feedback. An examination of grip/load force phase plots revealed that our amputee participants used larger safety margins and demonstrated less coordination than our non-amputee participants.
Our results suggest that a backdrivable terminal device may hold advantages over non-backdrivable devices by allowing grip/load force coordination consistent with behaviors observed in the natural limb. Likewise, the inconclusive effect of referred haptic feedback on grasp and lift performance suggests the need for additional testing that includes adequate training for participants.
Url:
DOI: 10.1186/s12984-015-0098-1
PubMed: 26602538
PubMed Central: 4659194
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PMC:4659194Le document en format XML
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Brown</name><affiliation wicri:level="2"><nlm:aff id="Aff1">Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Michigan</region></placeName><wicri:cityArea>Department of Mechanical Engineering, University of Michigan, Ann Arbor</wicri:cityArea></affiliation><affiliation wicri:level="2"><nlm:aff id="Aff2">Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName><wicri:cityArea>Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia</wicri:cityArea></affiliation></author><author><name sortKey="Paek, Andrew" sort="Paek, Andrew" uniqKey="Paek A" first="Andrew" last="Paek">Andrew Paek</name><affiliation wicri:level="2"><nlm:aff id="Aff3">Department of Electrical and Computer Engineering, University of Houston, Houston, TX USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Texas</region></placeName><wicri:cityArea>Department of Electrical and Computer Engineering, University of Houston, Houston</wicri:cityArea></affiliation></author><author><name sortKey="Syed, Mashaal" sort="Syed, Mashaal" uniqKey="Syed M" first="Mashaal" last="Syed">Mashaal Syed</name><affiliation wicri:level="2"><nlm:aff id="Aff4">School of Biomedical Engineering, Science and Health Systems (BIOMED), Drexel University, Philadelphia, PA USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName><wicri:cityArea>School of Biomedical Engineering, Science and Health Systems (BIOMED), Drexel University, Philadelphia</wicri:cityArea></affiliation></author><author><name sortKey="O Alley, Marcia K" sort="O Alley, Marcia K" uniqKey="O Alley M" first="Marcia K." last="O Alley">Marcia K. 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Contreras-Vidal</name><affiliation wicri:level="2"><nlm:aff id="Aff3">Department of Electrical and Computer Engineering, University of Houston, Houston, TX USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Texas</region></placeName><wicri:cityArea>Department of Electrical and Computer Engineering, University of Houston, Houston</wicri:cityArea></affiliation></author><author><name sortKey="Davis, Alicia J" sort="Davis, Alicia J" uniqKey="Davis A" first="Alicia J." last="Davis">Alicia J. Davis</name><affiliation wicri:level="2"><nlm:aff id="Aff8">UM Orthotics and Prosthetics Center, University of Michigan, Ann Arbor, MI USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Michigan</region></placeName><wicri:cityArea>UM Orthotics and Prosthetics Center, University of Michigan, Ann Arbor</wicri:cityArea></affiliation></author><author><name sortKey="Gillespie, R Brent" sort="Gillespie, R Brent" uniqKey="Gillespie R" first="R. Brent" last="Gillespie">R. Brent Gillespie</name><affiliation wicri:level="2"><nlm:aff id="Aff1">Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Michigan</region></placeName><wicri:cityArea>Department of Mechanical Engineering, University of Michigan, Ann Arbor</wicri:cityArea></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">26602538</idno><idno type="pmc">4659194</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4659194</idno><idno type="RBID">PMC:4659194</idno><idno type="doi">10.1186/s12984-015-0098-1</idno><date when="2015">2015</date><idno type="wicri:Area/Pmc/Corpus">000849</idno><idno type="wicri:Area/Pmc/Curation">000849</idno><idno type="wicri:Area/Pmc/Checkpoint">000750</idno><idno type="wicri:source">PubMed</idno><idno type="wicri:Area/PubMed/Corpus">000185</idno><idno type="wicri:Area/PubMed/Curation">000185</idno><idno type="wicri:Area/PubMed/Checkpoint">000434</idno><idno type="wicri:Area/Ncbi/Merge">003D80</idno><idno type="wicri:Area/Ncbi/Curation">003D80</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">An exploration of grip force regulation with a low-impedance myoelectric prosthesis featuring referred haptic feedback</title><author><name sortKey="Brown, Jeremy D" sort="Brown, Jeremy D" uniqKey="Brown J" first="Jeremy D." last="Brown">Jeremy D. Brown</name><affiliation wicri:level="2"><nlm:aff id="Aff1">Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Michigan</region></placeName><wicri:cityArea>Department of Mechanical Engineering, University of Michigan, Ann Arbor</wicri:cityArea></affiliation><affiliation wicri:level="2"><nlm:aff id="Aff2">Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName><wicri:cityArea>Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia</wicri:cityArea></affiliation></author><author><name sortKey="Paek, Andrew" sort="Paek, Andrew" uniqKey="Paek A" first="Andrew" last="Paek">Andrew Paek</name><affiliation wicri:level="2"><nlm:aff id="Aff3">Department of Electrical and Computer Engineering, University of Houston, Houston, TX USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Texas</region></placeName><wicri:cityArea>Department of Electrical and Computer Engineering, University of Houston, Houston</wicri:cityArea></affiliation></author><author><name sortKey="Syed, Mashaal" sort="Syed, Mashaal" uniqKey="Syed M" first="Mashaal" last="Syed">Mashaal Syed</name><affiliation wicri:level="2"><nlm:aff id="Aff4">School of Biomedical Engineering, Science and Health Systems (BIOMED), Drexel University, Philadelphia, PA USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName><wicri:cityArea>School of Biomedical Engineering, Science and Health Systems (BIOMED), Drexel University, Philadelphia</wicri:cityArea></affiliation></author><author><name sortKey="O Alley, Marcia K" sort="O Alley, Marcia K" uniqKey="O Alley M" first="Marcia K." last="O Alley">Marcia K. O Alley</name><affiliation wicri:level="2"><nlm:aff id="Aff5">Department of Mechanical Engineering, Rice University, Houston, TX USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Texas</region></placeName><wicri:cityArea>Department of Mechanical Engineering, Rice University, Houston</wicri:cityArea></affiliation></author><author><name sortKey="Shewokis, Patricia A" sort="Shewokis, Patricia A" uniqKey="Shewokis P" first="Patricia A." last="Shewokis">Patricia A. Shewokis</name><affiliation wicri:level="2"><nlm:aff id="Aff6">Nutrition Sciences Department, College of Nursing and Health Professions, Drexel University, Philadelphia, PA USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName><wicri:cityArea>Nutrition Sciences Department, College of Nursing and Health Professions, Drexel University, Philadelphia</wicri:cityArea></affiliation><affiliation wicri:level="2"><nlm:aff id="Aff4">School of Biomedical Engineering, Science and Health Systems (BIOMED), Drexel University, Philadelphia, PA USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName><wicri:cityArea>School of Biomedical Engineering, Science and Health Systems (BIOMED), Drexel University, Philadelphia</wicri:cityArea></affiliation><affiliation wicri:level="2"><nlm:aff id="Aff7">Department of Surgery, Drexel University College of Medicine, Philadelphia, PA USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Pennsylvanie</region></placeName><wicri:cityArea>Department of Surgery, Drexel University College of Medicine, Philadelphia</wicri:cityArea></affiliation></author><author><name sortKey="Contreras Vidal, Jose L" sort="Contreras Vidal, Jose L" uniqKey="Contreras Vidal J" first="Jose L." last="Contreras-Vidal">Jose L. Contreras-Vidal</name><affiliation wicri:level="2"><nlm:aff id="Aff3">Department of Electrical and Computer Engineering, University of Houston, Houston, TX USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Texas</region></placeName><wicri:cityArea>Department of Electrical and Computer Engineering, University of Houston, Houston</wicri:cityArea></affiliation></author><author><name sortKey="Davis, Alicia J" sort="Davis, Alicia J" uniqKey="Davis A" first="Alicia J." last="Davis">Alicia J. Davis</name><affiliation wicri:level="2"><nlm:aff id="Aff8">UM Orthotics and Prosthetics Center, University of Michigan, Ann Arbor, MI USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Michigan</region></placeName><wicri:cityArea>UM Orthotics and Prosthetics Center, University of Michigan, Ann Arbor</wicri:cityArea></affiliation></author><author><name sortKey="Gillespie, R Brent" sort="Gillespie, R Brent" uniqKey="Gillespie R" first="R. Brent" last="Gillespie">R. Brent Gillespie</name><affiliation wicri:level="2"><nlm:aff id="Aff1">Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI USA</nlm:aff><country>États-Unis</country><placeName><region type="state">Michigan</region></placeName><wicri:cityArea>Department of Mechanical Engineering, University of Michigan, Ann Arbor</wicri:cityArea></affiliation></author></analytic><series><title level="j">Journal of NeuroEngineering and Rehabilitation</title><idno type="eISSN">1743-0003</idno><imprint><date when="2015">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Adult</term><term>Amputees (rehabilitation)</term><term>Artificial Limbs</term><term>Electric Impedance</term><term>Feedback, Sensory (physiology)</term><term>Female</term><term>Forearm</term><term>Hand Strength (physiology)</term><term>Humans</term><term>Male</term><term>Young Adult</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Feedback, Sensory</term><term>Hand Strength</term></keywords><keywords scheme="MESH" qualifier="rehabilitation" xml:lang="en"><term>Amputees</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Adult</term><term>Artificial Limbs</term><term>Electric Impedance</term><term>Female</term><term>Forearm</term><term>Humans</term><term>Male</term><term>Young Adult</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><sec><title>Background</title><p>Haptic display technologies are well suited to relay proprioceptive, force, and contact cues from a prosthetic terminal device back to the residual limb and thereby reduce reliance on visual feedback. The ease with which an amputee interprets these haptic cues, however, likely depends on whether their dynamic signal behavior corresponds to expected behaviors—behaviors consonant with a natural limb coupled to the environment. A highly geared motor in a terminal device along with the associated high back-drive impedance influences dynamic interactions with the environment, creating effects not encountered with a natural limb. Here we explore grasp and lift performance with a backdrivable (low backdrive impedance) terminal device placed under proportional myoelectric position control that features referred haptic feedback.</p></sec><sec><title>Methods</title><p>We fabricated a back-drivable terminal device that could be used by amputees and non-amputees alike and drove aperture (or grip force, when a stiff object was in its grasp) in proportion to a myoelectric signal drawn from a single muscle site in the forearm. In randomly ordered trials, we assessed the performance of N=10 participants (7 non-amputee, 3 amputee) attempting to grasp and lift an object using the terminal device under three feedback conditions (no feedback, vibrotactile feedback, and joint torque feedback), and two object weights that were indiscernible by vision.</p></sec><sec><title>Results</title><p>Both non-amputee and amputee participants scaled their grip force according to the object weight. Our results showed only minor differences in grip force, grip/load force coordination, and slip as a function of sensory feedback condition, though the grip force at the point of lift-off for the heavier object was significantly greater for amputee participants in the presence of joint torque feedback. An examination of grip/load force phase plots revealed that our amputee participants used larger safety margins and demonstrated less coordination than our non-amputee participants.</p></sec><sec><title>Conclusions</title><p>Our results suggest that a backdrivable terminal device may hold advantages over non-backdrivable devices by allowing grip/load force coordination consistent with behaviors observed in the natural limb. Likewise, the inconclusive effect of referred haptic feedback on grasp and lift performance suggests the need for additional testing that includes adequate training for participants.</p></sec></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Flanagan, Jr" uniqKey="Flanagan J">JR Flanagan</name></author><author><name sortKey="Bowman, Mc" uniqKey="Bowman M">MC Bowman</name></author><author><name sortKey="Johansson, Rs" uniqKey="Johansson R">RS Johansson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Flanagan, Jr" uniqKey="Flanagan J">JR Flanagan</name></author><author><name sortKey="Wing, Am" uniqKey="Wing A">AM Wing</name></author></analytic></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct><analytic><author><name sortKey="Witteveen, H" uniqKey="Witteveen H">H Witteveen</name></author><author><name sortKey="Luft, F" uniqKey="Luft F">F Luft</name></author><author><name 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Johansson</name></author><author><name sortKey="Westling, G" uniqKey="Westling G">G Westling</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lafargue, G" uniqKey="Lafargue G">G Lafargue</name></author><author><name sortKey="Paillard, J" uniqKey="Paillard J">J Paillard</name></author><author><name sortKey="Lamarre, Y" uniqKey="Lamarre Y">Y Lamarre</name></author><author><name sortKey="Sirigu, A" uniqKey="Sirigu A">A Sirigu</name></author></analytic></biblStruct><biblStruct></biblStruct><biblStruct><analytic><author><name sortKey="Baayen, Rh" uniqKey="Baayen R">RH Baayen</name></author><author><name sortKey="Davidson, Dj" uniqKey="Davidson D">DJ Davidson</name></author><author><name sortKey="Bates, Dm" uniqKey="Bates D">DM Bates</name></author></analytic></biblStruct><biblStruct></biblStruct><biblStruct></biblStruct><biblStruct><analytic><author><name sortKey="Panarese, A" uniqKey="Panarese A">A Panarese</name></author><author><name sortKey="Edin, Bb" uniqKey="Edin B">BB Edin</name></author><author><name sortKey="Vecchi, F" uniqKey="Vecchi F">F Vecchi</name></author><author><name sortKey="Carrozza, Mc" uniqKey="Carrozza M">MC Carrozza</name></author><author><name sortKey="Johansson, Rs" uniqKey="Johansson R">RS Johansson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Visell, Y" uniqKey="Visell Y">Y Visell</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Johansson, R" uniqKey="Johansson R">R Johansson</name></author><author><name sortKey="Westling, G" uniqKey="Westling G">G Westling</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Jenmalm, P" uniqKey="Jenmalm P">P Jenmalm</name></author><author><name sortKey="Johansson, Rs" uniqKey="Johansson R">RS Johansson</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Johansson, Rs" uniqKey="Johansson R">RS Johansson</name></author><author><name sortKey="Flanagan, Jr" uniqKey="Flanagan J">JR Flanagan</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Johansson, R" uniqKey="Johansson R">R Johansson</name></author><author><name sortKey="Cole, K" uniqKey="Cole K">K Cole</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Salimi, I" uniqKey="Salimi I">I Salimi</name></author><author><name sortKey="Hollender, I" uniqKey="Hollender I">I Hollender</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Wolpert, D" uniqKey="Wolpert D">D Wolpert</name></author><author><name sortKey="Flanagan, J" uniqKey="Flanagan J">J Flanagan</name></author></analytic></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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