Residual kinetics indices: A versatile interface for prosthetic control.

摘要

This dissertation presents the development of Residual Kinetic Indices (RKI) as a potential control source for upper limb prosthetics. RKIs are the detectable mechanical remnant of a volitional (desired) motion within the stump or residuum of an amputee. The RKI signal is detected using an array of pressure sensors to create a distributed pressure map, which is then filtered to determine volitional commands. These volitional commands can be used as a prosthetic control signal. The Hypotheses were: (1) RKIs are unique for specified functional tasks, (2) RKIs are repeatable for specified functional tasks intrasubject, and (3) RKIS are sufficient to control at least three degrees of freedom for a prosthetic system.;Specific contributions include the development of an measurement based anatomical notation for sensor placement, development of a testing protocol to quantitatively access residual kinetic prosthetic control, complete characterization of the entire prosthetic hand system, and preliminary testing of residual kinetic prosthetic control on five normal subjects and four affected subjects.;Each element of the prosthetic control system was first characterized. Then five normal subjects performed 18 unique motions with three repetitions each to determine the sensitivity of the RKI system to determine volition. All subjects were able to isolate at least three unique RKI motions. Nine motions were identified as potentially viable motions for prosthetic control. Preliminary testing was done on three amputees and one subject with hemiplegia to determine the effectiveness of the RKI system in affected populations. The hemiplegic subject demonstrated that the RKI signal could detect muscle movement even when no significant visible movement was noted. Two of the three amputees were successful users of the RKI system. One showed four independent control signals which would double the current state of the art myoelectric system using surface electrodes. RKI's demonstrate exciting potential for the use of prosthetic control for multi-degree of freedom prostheses.