Sensorimotor-inspired Tactile Feedback and Control Improve Consistency of Prosthesis Manipulation in the Absence of Direct Vision

Thomas, Neha; Fazlollahi, Farimah; Brown, Jeremy D.; Kuchenbecker, Katherine J.

doi:10.1109/iros51168.2021.9635885

Cited by 10 publications

(18 citation statements)

References 24 publications

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“…Under the MPI-IS Haptic Intelligence Department's framework agreement with the Max Planck Ethics Council (protocol number F005D, approved in February of 2021), we recruited 31 new participants to perform a reach-to-pick-and-place task using a myoelectric prosthesis in a between-subjects study with four experimental conditions. Data from 17 participants from our previous study [27] were re-used in the analysis for the present study; 8 were in the Standard condition, and 9 were in the condition with both vibrotactile feedback and tactile reflexes. In total, there were 48 participants (13 female, 35 male, age 31.4 ± 6.68).…”

Section: A Participantsmentioning

confidence: 99%

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The Utility of Synthetic Reflexes and Haptic Feedback for Upper-Limb Prostheses in a Dexterous Task Without Direct Vision

Thomas,

Fazlollahi,

Kuchenbecker

et al. 2022

Preprint

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Individuals who use myoelectric upper-limb prostheses often rely heavily on vision to complete their daily activities. They thus struggle in situations where vision is overloaded, such as multitasking, or unavailable, such as poor lighting conditions. Non-amputees can easily accomplish such tasks due to tactile reflexes and haptic sensation guiding their upper-limb motor coordination. Based on these principles, we developed and tested two novel prosthesis systems that incorporate autonomous controllers and provide the user with touch-location feedback through either vibration or distributed pressure. These capabilities were made possible by installing a custom contact-location sensor on the fingers of a commercial prosthetic hand, along with a custom pressure sensor on the thumb. We compared the performance of the two systems against a standard myoelectric prosthesis and a myoelectric prosthesis with only autonomous controllers in a difficult reach-to-pick-and-place task conducted without direct vision. Results from 40 non-amputee participants in this betweensubjects study indicated that vibrotactile feedback combined with synthetic reflexes proved significantly more advantageous than the standard prosthesis in several of the task milestones. In addition, vibrotactile feedback and synthetic reflexes improved grasp placement compared to only synthetic reflexes or pressure feedback combined with synthetic reflexes. These results indicate that both autonomous controllers and haptic feedback facilitate success in dexterous tasks without vision, and that the type of haptic display matters.

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Section: A Participantsmentioning

confidence: 99%

“…sEMG signals were calibrated using maximum voluntary contractions of the wrist flexor and extensor. For more details on calibration steps, refer to [27].…”

Section: G Experimental Protocolmentioning

confidence: 99%

The Utility of Synthetic Reflexes and Haptic Feedback for Upper-Limb Prostheses in a Dexterous Task Without Direct Vision

Thomas,

Fazlollahi,

Kuchenbecker

et al. 2022

Preprint

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“…Likewise, the amplitude of wrist extension activity is proportional to the opening speed of the prosthesis. The control equation and more details can be found in our previous study 39 ; the only difference here is the range of voltages used to drive the current prosthesis (1.5 -7 V here instead of 0.55 -1.5 V in our prior work).…”

Section: Semg Calibration and Prosthesis Manual Controlmentioning

confidence: 99%

“…Moreover, in addition to task performance, we also assess participants' cognitive load during task execution using functional near infrared spectroscopy (fNIRS), a noninvasive optical brain-imaging technique 38 . This experiment builds from two previous investigations where we separately evaluated the cognitive load associated with haptic feedback during prosthesis use 22 and the task performance utility of a haptic shared control scheme 39 Here, we employ the same neurophysiological measurements to provide a holistic understanding of performance and mental effort required to achieve that performance, i.e., neural efficiency 40 . We hypothesize that haptic shared control will result in the highest neural efficiency compared to the standard prosthesis, followed by the prosthesis featuring vibrotactile feedback of grip force.…”

Section: Introductionmentioning

confidence: 99%

Haptic Shared Control Improves Neural Efficiency During Myoelectric Prosthesis Use

Thomas,

Miller,

Ayaz

et al. 2022

Preprint

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Clinical myoelectric prostheses lack the sensory feedback and sufficient dexterity required to complete activities of daily living efficiently and accurately. Providing haptic feedback of relevant environmental cues to the user or imbuing the prosthesis with autonomous control authority have been separately shown to improve prosthesis utility. Few studies, however, have investigated the effect of combining these two approaches in a shared control paradigm, and none have evaluated such an approach from the perspective of neural efficiency (the relationship between task performance and mental effort measured directly from the brain). In this work, we analyzed the neural efficiency of 30 non-amputee participants in a grasp-and-lift task of a brittle object. Here, a myoelectric prosthesis featuring vibrotactile feedback of grip force and autonomous control of grasping was compared with a standard myoelectric prosthesis with and without vibrotactile feedback. As a measure of mental effort, we captured the prefrontal cortex activity changes using functional near infrared spectroscopy during the experiment. Results showed that only the haptic shared control system enabled users to achieve high neural efficiency, and that vibrotactile feedback was important for grasping with the appropriate grip force. These results indicate that the haptic shared control system synergistically combines the benefits of haptic feedback and autonomous controllers, and is well-poised to inform such hybrid advancements in myoelectric prosthesis technology.

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“…In an effort to overcome these limitations on contactlocation sensing, contact-location feedback, and autonomous control, we previously developed a sensorimotor-inspired prosthesis system featuring a novel contact-location sensor and vibrotactile feedback with anti-slip and anti-overgrasping reflex controllers [27]. Our contact-location sensor uses only three electrical leads and provides continuous, single-site contact location over the outer and inner surfaces of the fingers.…”

Section: Introductionmentioning

confidence: 99%

The Utility of Synthetic Reflexes and Haptic Feedback for Upper-Limb Prostheses in a Dexterous Task Without Direct Vision

Thomas

Fazlollahi

Kuchenbecker

et al. 2023

IEEE Trans. Neural Syst. Rehabil. Eng.

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Individuals who use myoelectric upper-limb prostheses often rely heavily on vision to complete their daily activities. They thus struggle in situations where vision is overloaded, such as multitasking, or unavailable, such as poor lighting conditions. Able-bodied individuals can easily accomplish such tasks due to tactile reflexes and haptic sensation guiding their upper-limb motor coordination. Based on these principles, we developed and tested two novel prosthesis systems that incorporate autonomous controllers and provide the user with touch-location feedback through either vibration or distributed pressure. These capabilities were made possible by installing a custom contact-location sensor on the fingers of a commercial prosthetic hand, along with a custom pressure sensor on the thumb. We compared the performance of the two systems against a standard myoelectric prosthesis and a myoelectric prosthesis with only autonomous controllers in a difficult reach-to-pick-and-place task conducted without direct vision. Results from 40 able-bodied participants in this between-subjects study indicated that vibrotactile feedback combined with synthetic reflexes proved significantly more advantageous than the standard prosthesis in several of the task milestones. In addition, vibrotactile feedback and synthetic reflexes improved grasp placement compared to only synthetic reflexes or pressure feedback combined with synthetic reflexes. These results indicate that autonomous controllers and haptic feedback together facilitate success in dexterous tasks without vision, and that the type of haptic display matters.

show abstract

Sensorimotor-inspired Tactile Feedback and Control Improve Consistency of Prosthesis Manipulation in the Absence of Direct Vision

Cited by 10 publications

References 24 publications

The Utility of Synthetic Reflexes and Haptic Feedback for Upper-Limb Prostheses in a Dexterous Task Without Direct Vision

The Utility of Synthetic Reflexes and Haptic Feedback for Upper-Limb Prostheses in a Dexterous Task Without Direct Vision

Haptic Shared Control Improves Neural Efficiency During Myoelectric Prosthesis Use

The Utility of Synthetic Reflexes and Haptic Feedback for Upper-Limb Prostheses in a Dexterous Task Without Direct Vision

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