Vibrotactile Feedback for Prosthetic Limbs II

假肢 II 的振动触觉反馈

• 批准号: 7404924
• 负责人: RONALD Raymond RISO
• 金额: $ 47.78万
• 依托单位: INNERSEA TECHNOLOGY, INC
• 依托单位国家: 美国
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-09-01 至 2010-03-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/7404924
• 关键词: Algorithms; Amputees; Area; Artificial Arm; Auditory system; Automobile Driving; Caliber; Categories; Cellular Phone; Code; Computer software; Consumption; Data; Decubitus ulcer; Dependence; Development; Devices; Diabetic Neuropathies; Engineering; Environment; Evaluation; Feedback; Fingers; Floor; Food; Frequencies; Friction; Goals; Hand; Hearing Impaired Persons; Housing; Infant; Invasive; Joints; Knee; Knowledge; Laboratories; Left; Limb Prosthesis; Limb structure; Lower Extremity; Manufacturer Name; Marketing; Measures; Mechanics; Metals; Microprocessor; Motor; Movement; Muscle; Operative Surgical Procedures; Output; Performance; Peripheral; Persons; Phase; Placement; Plastics; Positioning Attribute; Pronation; Prosthesis; Psychophysiology; Public Health; Quality of life; Range; Residual state; Rotation; Sensory; Series; Signal Transduction; Skin; Supination; System; Tactile; Techniques; Technology; Testing; Upper Extremity; Upper arm; Variant; Wheelchairs; Work; Wrist; animal care; ankle joint; base; blind; concept; cost effective; design; foot; grasp; implementation research; improved; miniaturize; novel; programs; prototype; response; sensor; sensory feedback; sensory system; sound; training aid; vibration

DESCRIPTION (provided by applicant): The functionality and user acceptance of prosthetic limbs can be substantially improved by providing sensory feedback. The goal is to develop a sensory system which prosthetists can incorporate (or retrofit) into presently available myoelectric arms. The system is non-invasive and based on an array of vibrating actuators on the skin (vibrotactors) used to input coded sensory information from the prosthesis to the skin of the residual limb. Three categories of sensory information will be targeted for powered arms: grasp force, object slippage and either wrist rotation (i.e. pronation/supination) or span of finger opening. Prior work in developing vibrotactile strategies for sensory substitution has shown it is a promising approach. The implementation of that research into the marketplace has been held up by a lack of vibrotactors that are small, power efficient and that can provide local stimulation with little cross-talk to adjacent units. Further, optimal vibrotactile feedback codes require that the vibration frequency and intensity be independent. Available vibrators such as cell phone rotary motor based vibrators or traditional solenoid based vibrators have strong co-dependence of vibration frequency and intensity. Further, solenoid based vibrators are only efficient at their resonant frequency. A substantial portion of the Phase 1 effort was directed towards developing and testing a novel engineering approach to the actuators which de-coupled intensity from frequency. A prototype actuator and driving technique was developed which provides for independent frequency and intensity, is small, provides focal stimulation, consumes minimal power and will be inexpensive to manufacture. This prototype was tested on several non-amputee and amputee subjects with excellent results. The goal of this PHASE 2 project is to develop a sensory feedback system for users of powered artificial arms to provide reliable, useful position, force, and slippage information. The vibration actuators will be further developed into a readily manufacturable, inexpensive device. These actuators will be smaller in diameter than a stack of 5 US dimes, weigh less than 10 grams, consume minimal power; be inexpensive to manufacture; be reliable for one year of typical operation, and disposable. Joint position sensors (eg wrist rotation) and force sensors (eg pinch force) will be selected for various prostheses. A microprocessor will convert sensory data from the prosthetic sensor to appropriate actuations using the novel sensory coding algorithms demonstrated in Phase1. The sensory feedback system will be tested extensively with 10 upper extremity amputee subjects to: 1) optimize the coding strategy; 2) develop a software training aid; 3) demonstrate the reliability of the system components and the system; and 4) determine the improvement in functionality of the prostheses when the sensory system is employed. RELEVANCE TO PUBLIC HEALTH: The incorporation of sensory feedback could greatly improve the quality of prosthesis control. Peripheral knowledge of object contact and grip force and object slippage will allow amputees to have increased confidence when using their prosthesis as well as make it possible to handle fragile items such as finger foods, engage in a hand shake greeting, or provide infant or animal care. Such improvements in quality of life are important for amputees.

描述（由申请人提供）：通过提供感官反馈，可以大大改善对假肢的功能和用户接受。 目的是开发一种感觉系统，假肢可以将其纳入目前可用的肌电臂。 该系统是无创的，并且基于用于输入从假体到残留肢体皮肤的编码的感觉信息的皮肤上的振动执行器（颤振动体）。 三类的感官信息将针对动力臂：抓握力，物体滑动和手腕旋转（即旋转/supination/supination）或手指开口的跨度。 开发葡萄圆曲目策略进行感觉替代的事务表明，这是一种有前途的方法。 该研究对市场的实施是由于缺乏小型，有效效率且可以提供局部刺激的速度速度，而与相邻单位相邻的单位几乎没有交叉刺激。 此外，最佳颤振反馈代码要求振动频率和强度是独立的。 可用的振动器，例如手机旋转电机振动器或传统螺线管振动器具有强大的振动频率和强度的共同依赖性。 此外，基于螺线管的振动器仅在其谐振频率下有效。 第1阶段努力的很大一部分是针对开发和测试针对执行器的新型工程方法，该方法从频率中脱离耦合强度。 开发了一种原型执行器和驾驶技术，可提供独立的频率和强度，很小，可提供局灶性刺激，消耗最小的功率，并将其廉价地制造。 该原型在几个非注射剂和截肢者受试者上进行了测试，其结果出色。 该第2阶段项目的目标是为有能力的人工武器的用户开发一个感官反馈系统，以提供可靠，有用的位置，力量和打滑信息。 振动致动器将进一步发展为一款易于制造的廉价设备。 这些执行器的直径将比5美国一角色的堆叠小于10克，消耗最小的功率。便宜的制造；对于典型的操作一年可靠，并且可支配。 关节位置传感器（例如腕部旋转）和力传感器（例如捏力）将用于各种假体。 微处理器将使用阶段1中所示的新型感觉编码算法将感觉数据从假体传感器转换为适当的作用。 感官反馈系统将通过10个上肢截肢受试者进行广泛测试：1）优化编码策略； 2）开发软件培训帮助； 3）演示系统组件和系统的可靠性； 4）确定采用感觉系统时假体功能的改善。 与公共卫生的相关性：感官反馈的结合可以大大提高假体控制的质量。 对物体接触，抓地力和物体滑倒的外围知识将使截肢者在使用假体时具有更大的信心，并使得处理脆弱的物品，例如手指食物，进行手动握手问候或提供婴儿或动物护理。 这种生活质量的改善对截肢者很重要。