2017-09-07 1 Control and sensory feedback in prosthetics CHRISTIAN ANTFOLK | Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 2 Outline • Amputations • Upper limb prostheses • Lower limb prostheses • Conventional control • Non-invasive methods of control (research) • Invasive methods of control (research)
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2017-09-07
1
Control and sensory feedback in prosthetics
CHRISTIAN ANTFOLK
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 2
Outline
• Amputations
• Upper limb prostheses
• Lower limb prostheses
• Conventional control
• Non-invasive methods of control (research)
• Invasive methods of control (research)
2017-09-07
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 3
Amputation levels (upper limb)
Transradial
Transhumeral
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 4
Amputation statistics upper limb (UK 2006/2007)
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 5
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 17
Active/Electrical hand prostheses
J. T. Belter and J. L. Segil, "Mechanical design and performance specifications of anthropomorphic prosthetic hands: a review," Journal of rehabilitation research and development, vol. 50, p. 599, 2013.
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 18
J. T. Belter and J. L. Segil, "Mechanical design and performance specifications of anthropomorphic prosthetic hands: a review," Journal of rehabilitation research and development, vol. 50, p. 599, 2013.
Active/Electrical hand prostheses
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 19
Active/Electrical hand prostheses
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 20
Research hands
http://handprothese.de/http://www.prensilia.com/
• Even more dexterous hands
• Multiple motors
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 21
Research hands cont.
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 22
Wrists
• Electric/Manual
• Locking
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 23
Elbows
• Electrical/Manual
• Lock/Free swing
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 24
Shoulders
• Mostly mechanical
• Free swing / Lock
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 25
Whole system / Research prototypes
• Complete systems
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 26
MPL video
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 27
Lower limb prosthetics
• Hips
• Knees
• Feet
• Major industrial players: Otto Bock & Össur
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 28
Hips
• Helix3D Hip Joint System
http://www.ottobock.com/
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 29
Knees
• Electric / Hydraulic / Pneumatic
• Microprocessor controlled or not
• Active / Breaking
http://www.ottobock.com/http://www.ossur.com
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 30
Wrists/Feet
• Passive / Electrical
• Active / Breaking
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 31
Research in lower limb prosthesis
http://biomech.media.mit.edu/
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 32
Research in lower limb prosthesis
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 33
Control of upper limb prosthes
• Bodypowered VC, VO
• Cineplasty control
• Myoelectric control
• Research methods
– Pattern recognition of EMG signals
– Targeted Reinnervation
– Control using information from the peripheral nervoussystem
– Control using information from the central nervoussystem
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 34
Bodypowered prosthesis
• Harness over shoulders
• Voluntary closing /opening
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 35
Bodypowered prosthesis II
• Cineplasty
• Sauerbruch-Lebsche-Vanghetti
• Tendon exteriorization
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 36
Electromyogram
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 37
Myoelectric control I
• One site
• Two site
• Pattern recognition (research)
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 38
One (single) site control – single function
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 39
Two (dual) site control – single function
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 40
Two (dual) site control – dual function
• Controlling hook and wrist rotationStarts in hook control Close hookOpen hookChange to wrist controlWrist rotate rightWrist rotate left
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 41
Research into control of prosthetic hands
• Limitations of conventional control schemes:
– One function at a time (sequential)
– Limited grasp types (open / close) even with new hands
– Set of inputs (EMG signals, usually multiple channels 8-16)
– Set of targets (Usually different grasps)
– Algorithm finds a function that discriminates patterns of EMG activity into different grasps
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 42
Pattern recognition based control : surface EMG
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 43
Targeted reinnervation
• Target muscle deinnervated
• Target muscle reinnervated nerves going to muscles in the no longer existing limb.
T. A. Kuiken, L. A. Miller, R. D. Lipschutz, B. A. Lock, K. Stubblefield, P. D. Marasco, P. Zhou, and G. A. Dumanian. Targeted reinnervation for enhanced prosthetic arm function in a woman with a proximal amputation: a case study. Lancet, 369:371-380, 2007.
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 44
Targeted reinnervation : video
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 45
Invasive control : EMG
• Epimysial electrodes
• Intramuscular electrodes
M. Ortiz-Catalan, B. Håkansson, R. Brånemark, “An osseointegrated human-machine gateway for long-term sensory feedback and motor control of artifical limbs” Sci. Transl. Med 6 257(re6) 2014.
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 46
Invasive control : interfacing with the PNS
S. Micera, L. Citi, J. Rigosa, J. Carpaneto, S. Raspopovic, G. Di Pino,L. Rossini, K. Yoshida, L. Denaro, P. Dario, and P. M. Rossini, “Decoding information from neural signals recorded using intraneural electrodes: Toward the development of a neurocontrolled hand prosthesis,” Proc. IEEE, vol. 98, no. 3, pp. 407–417, Mar. 2010.
• Similar concept as research EMG
• Electrodes
• Pattern recognition
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 47
Invasive control : interfacing with the CNS
• Concept again similar
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 48
Invasive control : interfacing with the CNS
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 49
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 50
Current research @ Lund
• Otbioelettronics Quattrocento
– 384 channels + 16 auxilliary
– 10 kHz per channel
• Custommade force-rig
– All fingers + wrist
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 51
Current research @ Lund
• Force + iEMG
– Fine-wire electrodes
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 52
Current research @ Lund
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| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 53
Current research @ Lund
| Faculty of Engineering LTH | Dept of. Biomedical Engineering | Christian Antfolk | Slide 55
Masters thesis projects
• If you are interested in machine learning for control of hand prostheses or building a handprosthesis (mechatronics) or sensory feedback systems for prosthetic hands please contact me