TY - GEN
T1 - Evaluation of Compensatory Movement by Shoulder Joint Torque during Gain Adjustment of a Powered Prosthetic Wrist Joint
AU - Kato, Akira
AU - Nagumo, Haruno
AU - Tamon, Miyake
AU - Fujie, Masakatsu G.
AU - Sugano, Shigeki
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/26
Y1 - 2018/10/26
N2 - Powered prostheses with low degree of freedom (DoF) have been developed for people with disabilities to assist daily tasks. These prostheses neglect the user's compensatory movements caused by the low degree of freedom. We assume that the movements can be reduced by well-designed controller of the devices. This paper explores an optimal control gain of the powered prosthesis to prevent the user from compensatory movements through experiments. In the experiments, we developed 1-DoF hand prosthesis with a position-controlled servo, which includes the constant gain as a feed-forward term. The compensatory movements are regarded as a joint torque at a shoulder (abduction/adduction). 4 intact subjects performed a pick-and-place task, using the prosthesis with several control gains. The empirical results show that there was the optimal gain for each subject, which reduces their compensatory movement.
AB - Powered prostheses with low degree of freedom (DoF) have been developed for people with disabilities to assist daily tasks. These prostheses neglect the user's compensatory movements caused by the low degree of freedom. We assume that the movements can be reduced by well-designed controller of the devices. This paper explores an optimal control gain of the powered prosthesis to prevent the user from compensatory movements through experiments. In the experiments, we developed 1-DoF hand prosthesis with a position-controlled servo, which includes the constant gain as a feed-forward term. The compensatory movements are regarded as a joint torque at a shoulder (abduction/adduction). 4 intact subjects performed a pick-and-place task, using the prosthesis with several control gains. The empirical results show that there was the optimal gain for each subject, which reduces their compensatory movement.
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U2 - 10.1109/EMBC.2018.8512594
DO - 10.1109/EMBC.2018.8512594
M3 - Conference contribution
C2 - 30440766
AN - SCOPUS:85056640931
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 1891
EP - 1894
BT - 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
Y2 - 18 July 2018 through 21 July 2018
ER -