An analysis of extended physiological proprioception as a prosthesis-control technique

Area of Science:

• Biomedical Engineering
• Rehabilitation Robotics
• Neuroprosthetics

Background:

• Upper-limb prostheses aim to restore lost function.
• Shoulder disarticulation amputees face unique control challenges.
• Extended physiological proprioception (EPP) is a novel control paradigm.

Purpose of the Study:

• To investigate the practicality and effectiveness of EPP for upper-limb prosthesis control.
• To verify EPP's applicability in multifunctional prostheses for shoulder disarticulation.
• To quantify EPP's effectiveness and analyze its limitations.

Main Methods:

• Feasibility study of using shoulder elevation-depression and protraction-retraction as control inputs.
• Analysis of prosthesis mechanism with nonlimiting dynamic response.
• Implementation of shoulder-activated EPP control for wrist rotation and elbow flexion/extension.

Main Results:

• Shoulder-activated EPP control demonstrated functional characteristics comparable to physiological limbs.
• Tracking capabilities of the EPP-controlled prosthesis matched natural elbow and wrist function.
• Position control via shoulder EPP showed greater potential than velocity control.

Conclusions:

• EPP control is a viable and effective method for upper-limb prostheses.
• Shoulder motion is a suitable input for EPP-based prosthesis control.
• Position-based EPP control offers superior functionality over velocity-based control for prostheses.