Combining Vibrotactile Feedback with Volitional Myoelectric Control for   Robotic Transtibial Prostheses

doi:10.3389/fnbot.2016.00008

CORC > 北京大学 > 工学院

	Combining Vibrotactile Feedback with Volitional Myoelectric Control for Robotic Transtibial Prostheses
	Chen, Baojun ; Feng, Yanggang ; Wang, Qining
刊名	FRONTIERS IN NEUROROBOTICS
	2016
关键词	vibrotactile feedback volitional myoelectric control human-centered closed-loop control vibrotactile stimulation position control robotic transtibial prostheses POWERED TRANSFEMORAL PROSTHESIS LOWER-LIMB AMPUTEES SENSORY FEEDBACK STIMULATION VALIDATION WALKING DESIGN SYSTEM HAND GAIT
DOI	10.3389/fnbot.2016.00008
英文摘要	In recent years, the development of myoelectric control for robotic lower-limb prostheses makes it possible for amputee users to volitionally control prosthetic joints. However, the human-centered control loop is not closed due to the lack of sufficient feedback of prosthetic joint movement, and it may result in poor control performance. In this research, we propose a vibrotactile stimulation system to provide the feedback of ankle joint position, and validate the necessity of combining it with volitional myoelectric control to achieve improved control performance. The stimulation system is wearable and consists of six vibrators. Three of the vibrators are placed on the anterior side of the thigh and the other three on the posterior side of the thigh. To explore the potential of applying the proposed vibrotactile feedback system for prosthetic ankle control, eight able-bodied subjects and two transtibial amputee subjects (TT1 and TT2) were recruited in this research, and several experiments were designed to investigate subjects' sensitivities to discrete and continuous vibration stimulations applied on the thigh. Then, we proposed a stimulation controller to produce different stimulation patterns according to current ankle angle. Amputee subjects were asked to control a virtual ankle displayed on the computer screen to reach different target ankle angles with a myoelectric controller, and control performances under different feedback conditions were compared. Experimental results indicated that subjects were more sensitive to stimulation position changes (identification accuracies were 96.39 +/- 0.86, 91.11, and 93.89% for able-bodied subjects, TT1, and TT2, respectively) than stimulation amplitude changes (identification accuracies were 89.89 +/- 2.40, 87.04, and 85.19% for able-bodied subjects, TT1, and TT2, respectively). Response times of able-bodied subjects, TT1, and 112 to stimulation pattern changes were 0.47 +/- 0.02 s, 0.53 s, and 0.48 s, respectively. Furthermore, for both TT1 and TT2, the absolute error of virtual ankle control reduced by about 50% with the addition of vibrotactile feedback. These results suggest that it is promising to apply the vibrotactile feedback system for the control of robotic transtibial prostheses.; Beijing Disabled Persons Federation; National Program for Support of Top-notch Young Professionals; National Natural Science Foundation of China [61005082, 61533001]; Beijing Nova Program [Z141101001814001]; Beijing Municipal Science and Technology Project [Z151100003715001, Z151100000915073]; SCI(E); PubMed; ARTICLE; qiningwang@pku.edu.cn; 8; 10
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/491553]
专题	工学院
推荐引用方式 GB/T 7714	Chen, Baojun,Feng, Yanggang,Wang, Qining. Combining Vibrotactile Feedback with Volitional Myoelectric Control for Robotic Transtibial Prostheses[J]. FRONTIERS IN NEUROROBOTICS,2016.
APA	Chen, Baojun,Feng, Yanggang,&Wang, Qining.(2016).Combining Vibrotactile Feedback with Volitional Myoelectric Control for Robotic Transtibial Prostheses.FRONTIERS IN NEUROROBOTICS.
MLA	Chen, Baojun,et al."Combining Vibrotactile Feedback with Volitional Myoelectric Control for Robotic Transtibial Prostheses".FRONTIERS IN NEUROROBOTICS (2016).