control and sensory feedback in prosthetics

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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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Amputation levels (upper limb)

Transradial

Transhumeral


Amputation statistics upper limb (UK 2006/2007)

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Amputation statistics upper limb (UK 2006/2007) cont.

• Reasons for amputations (congenital excluded)

Cause Number Percentage

Trauma 113 52%

Dysvascularity 23 11%

Infection 12 6%

Neurological discorder 2 1%

Neoplasia 22 10%

Other 43 20%

Total 215 100%


Amputation levels (lower limb)

Transfemoral

Transtibial

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Amputation statistics lower limb (UK 2006/2007)

> 20 times compared to upper limb !!!!! Why???


Amputation statistics lower limb (UK 2006/2007) cont.

• Reasons for amputations (congenital excluded)

Cause Number Percentage

Trauma 337 7 %

Dysvascularity 3300 72 %

Infection 356 8 %

Neurological discorder 56 1 %

Neoplasia 120 3 %

Other 405 9 %

Total 4574 100%

Was 11 % for upper limb amputees

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Upper limb prostheses

• Partial fingers

• Hands

• Wrists

• Elbows

• Shoulders

• Major industrial players: Otto Bock, RSLSteeper, touchbionic, Liberating Technologies, MotionControl etc.


Prosthetic hand types

• Categorization

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Partial finger prosthetics

• Can be bodypowered or electrically powered

• Can be purely cosmetic

• Touchbionics i-limb digits (prodigits)

• VINCENT finger


Task specific hand prostheses

• Related to a certain activity/sport

• Usually tailored for the specific task

http://www.oandp.com/products/trs/

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Cosmetic hand prostheses

• Varying degrees of looking like an arm/hand

• Handcrafted/Painted

• CAM/CAE/CAD approaches

http://www.pillet.com/http://www.touchbionics.com/products/passive-functional-prostheses/livingskin/


Active/Bodypowered hand prostheses

• Hooks

http://rslsteeper.com/http://www.ottobock.com/

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Active/Electrical hand prostheses

• Hands

http://rslsteeper.com/http://www.ottobock.com/http://www.utaharm.com/http://www.centri.se/



http://bebionic.com/http://www.touchbionics.com/http://www.living-with-michelangelo.com/http://handprothese.de/

• Dexterous hands

• Multiple motors

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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.


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.


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a) Vincent hand, b) iLimb, c) bebionic, d) Michelangelo


Research hands

http://handprothese.de/http://www.prensilia.com/

• Even more dexterous hands

• Multiple motors

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Research hands cont.


Wrists

• Electric/Manual

• Locking

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Elbows

• Electrical/Manual

• Lock/Free swing


Shoulders

• Mostly mechanical

• Free swing / Lock

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Whole system / Research prototypes

• Complete systems


MPL video

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Lower limb prosthetics

• Hips

• Knees

• Feet

• Major industrial players: Otto Bock & Össur


Hips

• Helix3D Hip Joint System

http://www.ottobock.com/

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Knees

• Electric / Hydraulic / Pneumatic

• Microprocessor controlled or not

• Active / Breaking

http://www.ottobock.com/http://www.ossur.com


Wrists/Feet

• Passive / Electrical

• Active / Breaking

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Research in lower limb prosthesis

http://biomech.media.mit.edu/


Research in lower limb prosthesis

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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


Bodypowered prosthesis

• Harness over shoulders

• Voluntary closing /opening

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Bodypowered prosthesis II

• Cineplasty

• Sauerbruch-Lebsche-Vanghetti

• Tendon exteriorization


Electromyogram

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Myoelectric control I

• One site

• Two site

• Pattern recognition (research)


One (single) site control – single function

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Two (dual) site control – single function


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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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

– No real force control

• Pattern recognition algorithm/ Machine learning methods

– 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


Pattern recognition based control : surface EMG

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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.


Targeted reinnervation : video

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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.


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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Invasive control : interfacing with the CNS

• Concept again similar


Invasive control : interfacing with the CNS

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Current research in my lab

• DeTOP – EU project

– Partners:

» Lund, Gothenburg, Essex, CSEM, Integrum, Prensilia, Scoula Superiore Sant’Anna,

http://www.detop-project.eu/



• Otbioelettronics Quattrocento

– 384 channels + 16 auxilliary

– 10 kHz per channel

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• Custommade force-rig

• 9 sensors

• Each finger

• Two on the thumb

• Three for the wrist

– flexion/extension

– pronation/supination

– radial/ulnar deviation




• Force + iEMG

– Fine-wire electrodes

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• Intramuscular fine wire EMG

• Example signals from FDP (Flexor Digitorum Profundus)

• Flexion of digits 3,4,5.

High force

Medium force

Low force

D1 D2 D3 D4


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• Intramuscular fine-wire EMG

• Initial results

EMG

Force

Firing rate

Envelope




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• Body-powered

• Elektro-mechanical




• Sensory feedback and force sensors

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• Virtual Reality for rehabilitation and training

Cyberglove

Myo



• Deep Learning and HDSEMG


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Demo


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 or other topics in ”neuroengineering” please contact me

[email protected]

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Thank you!

[email protected]

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control and sensory feedback in prosthetics