Categorization and Evaluation Methods for Control Strategies of Bilateral Tasks in Arm Prosthetics
Controlling multi-joint prostheses intuitively and effortlessly has been a research topic since the appearance of the first electric elbow prostheses. Researchers mainly focused on single handed tasks, however in daily life these are mostly executed with the healthy hand and the prosthetic arms only...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10130567/ |
| _version_ | 1797780098026307584 |
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| author | Tom Hetto Stefan Schulz Markus Reischl |
| author_facet | Tom Hetto Stefan Schulz Markus Reischl |
| author_sort | Tom Hetto |
| collection | DOAJ |
| description | Controlling multi-joint prostheses intuitively and effortlessly has been a research topic since the appearance of the first electric elbow prostheses. Researchers mainly focused on single handed tasks, however in daily life these are mostly executed with the healthy hand and the prosthetic arms only become relevant for two-handed manipulations. Thus, a new approach is presented in this paper addressing bilateral tasks. A taxonomy for bilateral tasks is elaborated in order to categorize and prioritize bilateral manipulations involving a prosthetic arm. Five different key figures for rating bilateral movements are introduced and used to form two quality criteria, which allow evaluation and comparison of different control strategies. Based on the proposed taxonomy and quality criteria, a generalized benchmark test environment is developed with five different evaluation scenarios and realized in virtual reality in an exemplary manner. Furthermore, a new controller-agent strategy, greatly facilitating the usage of prosthetic arms, is presented. The effectiveness of the criteria for evaluation of different control strategies is demonstrated with healthy subjects. With this evaluation concept, we provide the community a means to explore and compare controlling methods and inputs, facilitating the progress and development of new strategies. |
| first_indexed | 2024-03-12T23:39:40Z |
| format | Article |
| id | doaj.art-62c24b0e17b04df2a740fcd7f21e614f |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-12T23:39:40Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-62c24b0e17b04df2a740fcd7f21e614f2023-07-14T23:00:06ZengIEEEIEEE Access2169-35362023-01-0111525015250810.1109/ACCESS.2023.327883610130567Categorization and Evaluation Methods for Control Strategies of Bilateral Tasks in Arm ProstheticsTom Hetto0https://orcid.org/0000-0001-8097-2296Stefan Schulz1Markus Reischl2https://orcid.org/0000-0002-7780-6374Vincent Systems GmbH, Karlsruhe, GermanyVincent Systems GmbH, Karlsruhe, GermanyInstitute for Automation and Applied Informatics, Karlsruhe Institute of Technology (KIT), Karlsruhe, GermanyControlling multi-joint prostheses intuitively and effortlessly has been a research topic since the appearance of the first electric elbow prostheses. Researchers mainly focused on single handed tasks, however in daily life these are mostly executed with the healthy hand and the prosthetic arms only become relevant for two-handed manipulations. Thus, a new approach is presented in this paper addressing bilateral tasks. A taxonomy for bilateral tasks is elaborated in order to categorize and prioritize bilateral manipulations involving a prosthetic arm. Five different key figures for rating bilateral movements are introduced and used to form two quality criteria, which allow evaluation and comparison of different control strategies. Based on the proposed taxonomy and quality criteria, a generalized benchmark test environment is developed with five different evaluation scenarios and realized in virtual reality in an exemplary manner. Furthermore, a new controller-agent strategy, greatly facilitating the usage of prosthetic arms, is presented. The effectiveness of the criteria for evaluation of different control strategies is demonstrated with healthy subjects. With this evaluation concept, we provide the community a means to explore and compare controlling methods and inputs, facilitating the progress and development of new strategies.https://ieeexplore.ieee.org/document/10130567/Bilateral manipulationsupper limb prostheticsvirtual reality |
| spellingShingle | Tom Hetto Stefan Schulz Markus Reischl Categorization and Evaluation Methods for Control Strategies of Bilateral Tasks in Arm Prosthetics IEEE Access Bilateral manipulations upper limb prosthetics virtual reality |
| title | Categorization and Evaluation Methods for Control Strategies of Bilateral Tasks in Arm Prosthetics |
| title_full | Categorization and Evaluation Methods for Control Strategies of Bilateral Tasks in Arm Prosthetics |
| title_fullStr | Categorization and Evaluation Methods for Control Strategies of Bilateral Tasks in Arm Prosthetics |
| title_full_unstemmed | Categorization and Evaluation Methods for Control Strategies of Bilateral Tasks in Arm Prosthetics |
| title_short | Categorization and Evaluation Methods for Control Strategies of Bilateral Tasks in Arm Prosthetics |
| title_sort | categorization and evaluation methods for control strategies of bilateral tasks in arm prosthetics |
| topic | Bilateral manipulations upper limb prosthetics virtual reality |
| url | https://ieeexplore.ieee.org/document/10130567/ |
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