Predicting Wrist Joint Angles from the Kinematics of the Arm: Application to the Control of Upper Limb Prostheses
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Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7035
comunitat-uji-handle3:10234/8617
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Título
Predicting Wrist Joint Angles from the Kinematics of the Arm: Application to the Control of Upper Limb ProsthesesFecha de publicación
2023-06Editor
MDPIISSN
2313-7673Cita bibliográfica
Pérez-González, A.; Roda-Casanova, V.; Sabater-Gazulla, J. Predicting Wrist Joint Angles from the Kinematics of the Arm: Application to the Control of Upper Limb Prostheses. Biomimetics 2023, 8, 219. https://doi.org/10.3390/biomimetics8020219Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
https://www.mdpi.com/2313-7673/8/2/219Versión
info:eu-repo/semantics/publishedVersionPalabras clave / Materias
Resumen
Automation of wrist rotations in upper limb prostheses allows simplification of the human–machine interface, reducing the user’s mental load and avoiding compensatory movements. This study explored the possibility of ... [+]
Automation of wrist rotations in upper limb prostheses allows simplification of the human–machine interface, reducing the user’s mental load and avoiding compensatory movements. This study explored the possibility of predicting wrist rotations in pick-and-place tasks based on kinematic information from the other arm joints. To do this, the position and orientation of the hand, forearm, arm, and back were recorded from five subjects during transport of a cylindrical and a spherical object between four different locations on a vertical shelf. The rotation angles in the arm joints were obtained from the records and used to train feed-forward neural networks (FFNNs) and time-delay neural networks (TDNNs) in order to predict wrist rotations (flexion/extension, abduction/adduction, and pronation/supination) based on the angles at the elbow and shoulder. Correlation coefficients between actual and predicted angles of 0.88 for the FFNN and 0.94 for the TDNN were obtained. These correlations improved when object information was added to the network or when it was trained separately for each object (0.94 for the FFNN, 0.96 for the TDNN). Similarly, it improved when the network was trained specifically for each subject. These results suggest that it would be feasible to reduce compensatory movements in prosthetic hands for specific tasks by using motorized wrists and automating their rotation based on kinematic information obtained with sensors appropriately positioned in the prosthesis and the subject’s body. [-]
Publicado en
Biomimetics, 2023, vol. 8, no2Entidad financiadora
Agencia Financiadora: Ministerio de Ciencia, Innovación y Universidades
Identificador de la entidad financiadora
http://dx.doi.org/10.13039/501100011033
Código del proyecto o subvención
MICIU/ICTI2017-2020/PID2020-118021RB-I00
Título del proyecto o subvención
Hacia un diseño unificado de una mano artificial asequible y versátil válida para el uso protésico y en robótica colaborativa
Derechos de acceso
info:eu-repo/semantics/openAccess
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