Biomimetic controller for increased dexterity prosthesis
A sliding mode biomimetic (BSM) controller for a prosthetic device, such as a prosthetic hand, includes an input classification component that receives electromyogram (EGM) signals from two or more electromyogram (EGM) sensors that are positioned on an amputee's body. The input classification component compares the EGM input signals based on predetermined activation threshold values and identifies an input class to determine the amputee's intended movement of the prosthetic device. A finite state machine utilizes the current position of the prosthetic hand and the identified input class to identify the coordinates of a lookup table to determine the next state or position of the prosthetic device. As a result, the biomimetic controller is able to simultaneously control two or more degrees of freedom (DOFs) or functions of the prosthetic hand using only two EGM input signals.
1. A control system for a prosthetic hand having a wrist, a plurality of fingers and a thumb, with the wrist having a first degree of freedom, at least one of the plurality of fingers having a second degree of freedom, and the thumb having a third degree of freedom, the control system comprising:
a controller adapted to be coupled to the prosthetic hand, and adapted to receive a first and a second electromyogram (EMG) signal, each said signal being from different muscle groups of an individual; and
an input classification algorithm component provided by said controller, which compares said first EMG signal and said second EMG signal to a first and a second threshold value, wherein based on the comparisons a first control signal comprising a weighted sum of said first and second EMG signals and a second control signal comprising a weighted difference of said first and second EMG signals are generated, and one of a plurality of input classes that identifies a new position of the prosthetic hand is selected;
and
wherein said first and second EMG control signals simultaneously control at least two of the first, second and third degrees of freedom in accordance with the new position of the prosthetic hand.
2. The control system of claim 1 , wherein said comparisons are performed simultaneously.
3. The control system of claim 1 , wherein said input classes includes an extension, a flexion, a light extension and a co-contraction.
4. The control system of claim 1 , wherein said control of the first degree of freedom provided by the wrist controls a torque thereof.
5. The control system of claim 1 , wherein the first, second and third degrees of freedom are controlled simultaneously.
6. A method for controlling a prosthetic hand having a wrist, a plurality of fingers and a thumb, such that the wrist has a first degree of freedom, at least one of the plurality of fingers has a second degree of freedom, and the thumb has a third degree of freedom comprising:
providing a controller adapted to be interfaced with the prosthetic hand;
receiving a first and a second electromyogram (EMG) signal from different muscle groups of an individual at said controller;
comparing said first EMG signal to a first and a second threshold value;
comparing said second EMG signal to said first and second threshold values;
generating a first control signal comprising a weighted sum of said first and second EMG signals and generating a second control signal comprising a weighted difference of said first and second EMG signals;
selecting one of a plurality of input classes based on said comparisons to identify a new position of the prosthetic hand; and
simultaneously controlling, using the first and second control signals, at least two of the first, second and third degrees of freedom in accordance with the new position of the prosthetic hand that has been selected said selected input class.
7. The method of claim 6 , wherein the second and third degrees of freedom are controlled to adjust a grip force of the prosthetic hand.
8. The method of claim 6 , wherein said comparisons are performed simultaneously.
9. The method of claim 6 , wherein said input classes includes an extension, a flexion, a light extension and a co-contraction.
10. The method of claim 6 , wherein said controlling step of the first degree of freedom provided by the wrist controls a torque thereof.
11. The method of claim 6 , wherein the first, second and third degrees of freedom are controlled simultaneously.