A Semi-Autonomous Hierarchical Control Framework for Prosthetic Hands Inspired by Dual Streams of Human
The routine use of prosthetic hands significantly enhances amputees’ daily lives, yet it often introduces cognitive load and reduces reaction speed. To address this issue, we introduce a wearable semi-autonomous hierarchical control framework tailored for amputees. Drawing inspiration from the visua...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-01-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/9/1/62 |
| _version_ | 1797344558687715328 |
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| author | Xuanyi Zhou Jianhua Zhang Bangchu Yang Xiaolong Ma Hao Fu Shibo Cai Guanjun Bao |
| author_facet | Xuanyi Zhou Jianhua Zhang Bangchu Yang Xiaolong Ma Hao Fu Shibo Cai Guanjun Bao |
| author_sort | Xuanyi Zhou |
| collection | DOAJ |
| description | The routine use of prosthetic hands significantly enhances amputees’ daily lives, yet it often introduces cognitive load and reduces reaction speed. To address this issue, we introduce a wearable semi-autonomous hierarchical control framework tailored for amputees. Drawing inspiration from the visual processing stream in humans, a fully autonomous bionic controller is integrated into the prosthetic hand control system to offload cognitive burden, complemented by a Human-in-the-Loop (HIL) control method. In the ventral-stream phase, the controller integrates multi-modal information from the user’s hand–eye coordination and biological instincts to analyze the user’s movement intention and manipulate primitive switches in the variable domain of view. Transitioning to the dorsal-stream phase, precise force control is attained through the HIL control strategy, combining feedback from the prosthetic hand’s sensors and the user’s electromyographic (EMG) signals. The effectiveness of the proposed interface is demonstrated by the experimental results. Our approach presents a more effective method of interaction between a robotic control system and the human. |
| first_indexed | 2024-03-08T11:04:28Z |
| format | Article |
| id | doaj.art-7ecbca4abd624e459aaa469add2bad8a |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-08T11:04:28Z |
| publishDate | 2024-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-7ecbca4abd624e459aaa469add2bad8a2024-01-26T15:17:10ZengMDPI AGBiomimetics2313-76732024-01-01916210.3390/biomimetics9010062A Semi-Autonomous Hierarchical Control Framework for Prosthetic Hands Inspired by Dual Streams of HumanXuanyi Zhou0Jianhua Zhang1Bangchu Yang2Xiaolong Ma3Hao Fu4Shibo Cai5Guanjun Bao6College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, ChinaSchool of Mechanical Engineering, Beijing University of Science and Technology, Beijing 100083, ChinaCollege of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, ChinaCollege of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, ChinaCollege of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, ChinaCollege of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, ChinaCollege of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, ChinaThe routine use of prosthetic hands significantly enhances amputees’ daily lives, yet it often introduces cognitive load and reduces reaction speed. To address this issue, we introduce a wearable semi-autonomous hierarchical control framework tailored for amputees. Drawing inspiration from the visual processing stream in humans, a fully autonomous bionic controller is integrated into the prosthetic hand control system to offload cognitive burden, complemented by a Human-in-the-Loop (HIL) control method. In the ventral-stream phase, the controller integrates multi-modal information from the user’s hand–eye coordination and biological instincts to analyze the user’s movement intention and manipulate primitive switches in the variable domain of view. Transitioning to the dorsal-stream phase, precise force control is attained through the HIL control strategy, combining feedback from the prosthetic hand’s sensors and the user’s electromyographic (EMG) signals. The effectiveness of the proposed interface is demonstrated by the experimental results. Our approach presents a more effective method of interaction between a robotic control system and the human.https://www.mdpi.com/2313-7673/9/1/62prosthetic handcontrol strategygraspmanipulationhuman inspired |
| spellingShingle | Xuanyi Zhou Jianhua Zhang Bangchu Yang Xiaolong Ma Hao Fu Shibo Cai Guanjun Bao A Semi-Autonomous Hierarchical Control Framework for Prosthetic Hands Inspired by Dual Streams of Human Biomimetics prosthetic hand control strategy grasp manipulation human inspired |
| title | A Semi-Autonomous Hierarchical Control Framework for Prosthetic Hands Inspired by Dual Streams of Human |
| title_full | A Semi-Autonomous Hierarchical Control Framework for Prosthetic Hands Inspired by Dual Streams of Human |
| title_fullStr | A Semi-Autonomous Hierarchical Control Framework for Prosthetic Hands Inspired by Dual Streams of Human |
| title_full_unstemmed | A Semi-Autonomous Hierarchical Control Framework for Prosthetic Hands Inspired by Dual Streams of Human |
| title_short | A Semi-Autonomous Hierarchical Control Framework for Prosthetic Hands Inspired by Dual Streams of Human |
| title_sort | semi autonomous hierarchical control framework for prosthetic hands inspired by dual streams of human |
| topic | prosthetic hand control strategy grasp manipulation human inspired |
| url | https://www.mdpi.com/2313-7673/9/1/62 |
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