Restoration of Lateral Hand Grasp Using Natural Sensors

Lickel, A.; Haugland, Morten Kristian; Haase, Jens; Sinkjær, Thomas

doi:10.1007/978-3-642-80211-9_40

Cited by 4 publications

(2 citation statements)

References 5 publications

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“…An attempt to compare open-loop control (OLC) and closed-loop control (CLC) with natural sensors of a hand grasp system was done by Lickel [12]. The purpose was to investigate whether the closed-loop system could reliably detect slips when an object was moved in space.…”

Section: Introductionmentioning

confidence: 99%

Functional evaluation of natural sensory feedback incorporated in a hand grasp neuroprosthesis

Inmann¹,

Haugland²

2004

Medical Engineering & Physics

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Section: Introductionmentioning

confidence: 99%

Functional evaluation of natural sensory feedback incorporated in a hand grasp neuroprosthesis

Inmann¹,

Haugland²

2004

Medical Engineering & Physics

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“…It is thus less specific than single unit electrodes, but provides a stable signal even after long time of implantation. In a C6 tetraplegic spinal cord injured (SCI) patient, we have earlier shown the possibility of recording activity from cutaneous receptors which is related to slip events from this type of electrode [29]- [31].…”

mentioning

confidence: 99%

Control of FES thumb force using slip information obtained from the cutaneous electroneurogram in quadriplegic man

Haugland

Lickel

Haase

et al. 1999

IEEE Trans. Rehab. Eng.

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A tetraplegic volunteer was implanted with percutaneous intramuscular electrodes in hand and forearm muscles. Furthermore, a sensory nerve cuff electrode was implanted on the volar digital nerve to the radial side of the index finger branching off the median nerve. In laboratory experiments a stimulation system was used to produce a lateral grasp (key grip) while the neural activity was recorded with the cuff electrode. The nerve signal contained information that could be used to detect the occurrence of slips and further to increase stimulation intensity to the thumb flexor/adductor muscles to stop the slip. Thereby the system provided a grasp that could catch an object if it started to slip due to, e.g., decreasing muscle force or changes in load forces tangential to the surface of the object. This method enabled an automatic adjustment of the stimulation intensity to the lowest possible level without loosing the grip and without any prior knowledge about the strength of the muscles and the weight and surface texture of the object. Index Terms-Functional electrical stimulation (FES), hand grasp, natural sensory feedback, nerve cuff electrode, neural prostheses I. INTRODUCTION M OTOR function of a paralyzed hand can be partially restored by means of functional electrical stimulation (FES) [1]-[3]. The present systems are feedforward-controlled, and the user relies on his/her experience and on visual feedback. When picking up an object, the user has to estimate the appropriate stimulation intensity, which produces enough force to hold the object. This is difficult and causes many patients to use excessive force [4]. Further, the system is not able to adapt to slow changes in force output of the stimulated muscles caused by, e.g., fatigue, electrode drift, and length-tension properties of the muscles at different hand orientations. To deal with these problems, it has been proposed to use force sensors, position sensors, or combinations thereof to provide closed-loop control of the grasp. This provides more linear control of grasp force and grasp opening [5]. Several investigators have looked into the possibilities of using artificial sensors for measurement of finger position and grasp force

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