Human-machine shared control: New avenue to dexterous prosthetic hand manipulation
- PDF / 1,574,241 Bytes
- 7 Pages / 595.276 x 793.701 pts Page_size
- 12 Downloads / 168 Views
man-machine shared control: New avenue to dexterous prosthetic hand manipulation YANG DaPeng 1
1,2*
& LIU Hong
1
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China; 2 Artificial Intelligence Laboratory, Harbin Institute of Technology, Harbin 150080, China Received June 9, 2020; accepted August 14, 2020; published online November 9, 2020
At present, albeit the dexterous hand prostheses of multiple degrees of freedom (DOFs) have become prosperous on the market, the user’s demand on intuitively operating these devices have not been well addressed so that their acceptance rate is relatively low. The unintuitive control method and inadequate sensory feedback are frequently cited as the two barriers to the successful application of these dexterous products. Recently, driven by the wave of artificial intelligence (AI), a series of shared control methods have emerged, in which “bodily function” (myoelectric control) and “artificial intelligence” (local autonomy, computer vision, etc.) are tightly integrated, and provided a new conceptual solution for the intuitive operation of dexterous prostheses. In this paper, the background and development trends of this type of methods are described in detail, and the potential development directions and the key technologies that need breakthroughs are indicated. In practice, we instantiate this shared control strategy by proposing a new method combining simultaneous myoelectric control, multi-finger grasp autonomy, and augmented reality (AR) feedback together. This method “divides” the human sophisticated reach-and-grasp task into several subtasks, and then “conquers” them by using different strategies from either human or machine perspective. It is highly expected that the shared control methods with hybrid human-machine intelligence could address the control problem of dexterous prostheses. robotic hand, dexterous prostheses, shared control, computer vision, deep learning Citation:
Yang D P, Liu H. Human-machine shared control: New avenue to dexterous prosthetic hand manipulation. Sci China Tech Sci, 2020, 63, https://doi. org/10.1007/s11431-020-1710-y
1 Introduction Robotic prosthesis is a device placed on the stump of an amputee to restore his/her missing motor function. After years of development, the hand prosthesis has gone through several stages like cosmetic glove, passively body-driven hooks and actively motorized grippers. At present, many active hand prostheses on the market are still single-DOF mechanical grippers covered with rubber glove, of which the rehabilitation functions (open/close) are highly limited. Survey shows that 50% to 70% of patients do not frequently use their prosthetic products during daily life, mainly due to poor dexterity, unintuitive control and inadequate feed*Corresponding author (email: [email protected])
back [1]. With the rise of bio-mechatronics technology, some big projects on “dexterous” and “intelligent” prosthetics have been launched, such as “Revolutionizing Prosthetics” in the Un
Data Loading...
