SHARED-CONTROL DECREASES THE PHYSICAL AND COGNITIVE DEMANDS OF MAINTAINING A SECURE GRIP

Area of Science:

• Biomedical Engineering
• Rehabilitation Technology
• Human-Machine Interface

Background:

• Upper-limb amputees often abandon prostheses due to control difficulties.
• Combining myoelectric control with autonomous systems shows promise for improved prosthesis function.
• The impact of shared and semi-autonomous control on users requires further investigation.

Purpose of the Study:

• To introduce and validate a novel shared-control algorithm for prosthetic hands.
• To assess the cognitive and physical impact of this shared-control system on users.
• To improve prosthetic control by reducing user burden.

Main Methods:

• Developed a shared-control algorithm blending electromyography (EMG) and infrared sensor data.
• Implemented proportional position control, damping user EMG input based on machine predictions.
• Validated the algorithm with three intact individuals performing a standardized object-holding task.

Main Results:

• Shared control led to fewer object drops during the holding task.
• Demonstrated a 32% reduction in cognitive demand for users under shared control.
• Showcased a 49% reduction in physical effort, measured by EMG, with shared control.

Conclusions:

• The novel shared-control algorithm effectively reduces physiological burdens on users.
• Shared control enhances prosthetic control and improves the overall user experience.
• This approach offers a promising direction for developing more intuitive and less demanding prosthetic devices.