Evaluation of Compensatory Movement by Shoulder Joint Torque during Gain Adjustment of a Powered Prosthetic Wrist Joint

Akira Kato, Haruno Nagumo, Miyake Tamon, Masakatsu G. Fujie, Shigeki Sugano

    Research output: Contribution to journalArticle

    Abstract

    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.

    Fingerprint

    Wrist Joint
    Shoulder Joint
    Torque
    Prosthetics
    Prostheses and Implants
    Gain control
    Experiments
    Disabled Persons
    Controllers
    Hand
    Joints
    Equipment and Supplies

    ASJC Scopus subject areas

    • Signal Processing
    • Biomedical Engineering
    • Computer Vision and Pattern Recognition
    • Health Informatics

    Cite this

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    title = "Evaluation of Compensatory Movement by Shoulder Joint Torque during Gain Adjustment of a Powered Prosthetic Wrist Joint",
    abstract = "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.",
    author = "Akira Kato and Haruno Nagumo and Miyake Tamon and Fujie, {Masakatsu G.} and Shigeki Sugano",
    year = "2018",
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    AU - Kato, Akira

    AU - Nagumo, Haruno

    AU - Tamon, Miyake

    AU - Fujie, Masakatsu G.

    AU - Sugano, Shigeki

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