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A Nonlinear Latching Filter to Remove Jitter From Movement Estimates for Prostheses.

Jacob Nieveen, Mark Brinton, David J Warren

    IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
    |November 17, 2020
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    Summary
    This summary is machine-generated.

    A new latching filter (LF) improves prosthetic control by reducing jitter without slowing movements. This advanced filter enhances prosthetic hand stability and speed for users compared to traditional low-pass filters.

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    Area of Science:

    • Biomedical Engineering
    • Neuroprosthetics
    • Signal Processing

    Background:

    • Continuous movement intent decoders are essential for advanced prosthetic limb control.
    • Biological signal noise (myoelectric, neural) causes jitter, degrading decoder performance.
    • Existing low-pass filters (LPF) reduce jitter but impair movement speed.

    Purpose of the Study:

    • To introduce and evaluate a novel latching filter (LF) as an alternative to LPF for prosthetic control.
    • To compare the performance of a Kalman filter (KF) decoder with LF against unsmoothed KF and KF with LPF.
    • To assess the impact of LF on prosthetic hand stability and movement speed in real-time tasks.

    Main Methods:

    • Developed a recursive, nonlinear latching filter (LF) designed for selective jitter smoothing.
    • Implemented and tested three decoder algorithms: KF, KF with LPF, and KF with LF.
    • Conducted real-time experiments involving target holding and reaching tasks using surface and intramuscular EMG, and neural signals from non-amputee and amputee subjects.

    Main Results:

    • The LF significantly improved prosthetic hand steadiness and movement speed compared to the LPF across all subjects.
    • KF decoder with LF demonstrated statistically significant improvements in hand steadiness versus unsmoothed KF.
    • LF provided enhanced stability with only a minor reduction in speed compared to the unsmoothed KF.

    Conclusions:

    • The latching filter (LF) offers a superior method for smoothing biological signal noise in prosthetic control.
    • LF enhances prosthetic function by improving stability and speed, outperforming traditional low-pass filters.
    • This technology holds significant promise for more intuitive and effective control of prosthetic devices.