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CyberLimb: a novel robotic prosthesis concept with shared and intuitive control.

Nicolas Seppich1, Nicholas Tacca1, Kuo-Yi Chao1

  • 1Chair of Robotics and Systems Intelligence, MIRMI-Munich Institute of Robotics and Machine Intelligence, Technical University of Munich (TUM), formerly MSRM, Munich, Germany.

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|April 29, 2022
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Summary

This study presents an intuitive, semi-automated intelligent prosthesis designed with user collaboration. The soft robotic gripper and headband interface offer a practical solution for arm amputees, enhancing daily task performance.

Keywords:
Arm prosthesisAssistive technologyBiomimeticsCybathlonCyberneticsHuman-centered

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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Human-Computer Interaction

Background:

  • Advanced mechatronic assistive technologies often present complex control challenges for users.
  • A practical, semi-automated system focused on daily tasks may improve end-user adoption of assistive devices.

Purpose of the Study:

  • To develop an intelligent prosthesis for the Cybathlon competition, prioritizing user needs and intuitive control.
  • To create a functional assistive device that aids arm amputees in performing daily activities.

Main Methods:

  • A soft robotic two-finger gripper controlled via a force-sensing resistor (FSR) headband interface.
  • Shared control system incorporating automatic arm angle-dependent wrist movements and manual forearm rotation.
  • Integration of FSR sensors for haptic feedback, utilizing a neural network to estimate object properties.

Main Results:

  • Achieved 12th place in the Cybathlon Global Edition 2020, competing against advanced prosthetic devices.
  • The pilot successfully completed most competition tasks, demonstrating the prosthesis's effectiveness.
  • Usability feedback indicated the prosthesis was intuitive to control, despite ergonomic concerns regarding size and weight.

Conclusions:

  • The developed system offers an intuitive interface for daily tasks, aligning with the Cybathlon arm discipline.
  • Future work will focus on reducing the prosthesis's size and weight to improve mobility.
  • Close collaboration with the user is key to advancing prosthesis design for arm amputees.