Natural Myocontrol in a Realistic Setting: a Comparison Between Static and Dynamic Data Acquisition

摘要

Natural myocontrol employs pattern recognition to allow users to control a robotic limb intuitively using their own voluntary muscular activations. The reliability of myocontrol strongly depends on the signals initially collected from the users, which must appropriately capture the variability encountered later on during operation. Since myoelectric signals can vary based on the position and orientation of the limb, it has become best practice to gather data in multiple body postures. We hereby concentrate on this acquisition protocol and investigate the relative merits of collecting data either statically or dynamically. In the static case, data for a desired hand configuration is collected while the users keep their hand still in certain positions, whereas in the dynamic case, data is collected while users move their limbs, passing through the required positions with a roughly constant velocity.Fourteen able-bodied subjects were asked to naturally control two dexterous hand prostheses mounted on splints, performing a set of complex, realistic bimanual activities of daily living. We could not find any significant difference between the protocols in terms of the total execution times, although the dynamic data acquisition was faster and less tiring. This would indicate that dynamic data acquisition should be preferred over the static one.