a new way of myoelectric control a new way of myoelectric control myopro project daphne van baal...
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![Page 1: A new way of myoelectric control A new way of myoelectric control MyoPro project Daphne van Baal Hans Rietman, Laura Kallenberg 25 september 2009](https://reader036.vdocuments.mx/reader036/viewer/2022081602/551a71db550346b52d8b4fa4/html5/thumbnails/1.jpg)
A new way of myoelectric A new way of myoelectric controlcontrol
MyoPro project
Daphne van BaalHans Rietman, Laura Kallenberg
25 september 2009
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Roessingh Research and Development, Enschede, the Netherlands2
IntroductionIntroduction
Low usage myoelectric prosthesis
Advantages DisadvantagesNon-invasiveNo straps or harnessesUse of remaining muscles
Limited selectivityLack of intuitive controlLack of sensory feedback
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Roessingh Research and Development, Enschede, the Netherlands3
GoalGoal
Improve the control ofa myoelectric forearm prosthesis
by increasing the number of degrees of freedom
using multi-channel surface electrodes
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Roessingh Research and Development, Enschede, the Netherlands4
Experimental protocolExperimental protocol
• Ten healthy male subjects• One forearm amputee• Forty small electrodes in grid• Eight isometric contractions
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Roessingh Research and Development, Enschede, the Netherlands5
Isometric contractionsIsometric contractions
Flexion of wrist Extension of wrist Flexion of fingers Extension of fingers
Abduction of wrist Adduction of wrist Supination of forearm
Pronation of forearm
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Roessingh Research and Development, Enschede, the Netherlands6
Data analysisData analysis
• Data selection of active contractions• Time periods of 200 milliseconds• Root mean squared (RMS) value• Subject specific classification• Simple robust classifier (kNN)
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Roessingh Research and Development, Enschede, the Netherlands7
RMS-level imagesRMS-level images
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Roessingh Research and Development, Enschede, the Netherlands8
Robust classifierRobust classifier
Training set Test set
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Roessingh Research and Development, Enschede, the Netherlands9
ResultsResults
OutputInput FF FE P S AB AD WE WF
Finger flexion99.9
40.03 0.01 0.02
Finger extension
0.0199.8
90.01 0.01 0.08
Pronation99.9
60.04
Supination 0.01 0.0199.8
50.03 0.02 0.08 0.01
Wrist abduction
0.02 0.0199.9
40.02 0.01
Wrist adduction
0.0199.9
70.01
Wrist extension
0.02 0.03 0.02 0.10 0.0199.8
30.01
Wrist flexion 0.02 0.05 0.0199.9
3
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Roessingh Research and Development, Enschede, the Netherlands10
Continuous resultsContinuous results
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Roessingh Research and Development, Enschede, the Netherlands11
RMS-level images RMS-level images amputeeamputee
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Roessingh Research and Development, Enschede, the Netherlands12
Results amputeeResults amputee
OutputInput
FF FE P S AB AD WE WF ABP ADS
Finger flexion 100.0
Finger extension
99.28
0.48 0.25
Pronation 99.62
0.02 0.13 0.23
Supination 99.64
0.13 0.06 0.17
Wrist abduction
99.73
0.06 0.21
Wrist adduction
0.08 0.25 0.0499.5
60.02 0.06
Wrist extension
0.02 0.17 0.1199.6
40.06
Wrist flexion 0.10 0.0299.8
9
Wrist ab & pro 0.19 0.34 0.0699.4
1
Wrist ad & sup 0.6199.3
9
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Roessingh Research and Development, Enschede, the Netherlands13
ConclusionConclusion
• Offline classification – normally limbed: 99.9%– amputee patient: 99.6%
• Online classification– normally limbed: 93.4%
• Up to ten movements can be distinguished (five degrees of freedom)
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Roessingh Research and Development, Enschede, the Netherlands14
FutureFuture
• Validation: more measurements with amputees
• Additional patient specific contractions• Random-ordered contractions• Simultaneous control of different
contractions• Force level analysis for proportional control
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Roessingh Research and Development, Enschede, the Netherlands15
Questions?Questions?
For more information: www.myopro.nlFor more information: www.myopro.nl