Improving control of dexterous hand prostheses using adaptive learning

Tommasi T, Orabona F, Caputo B, Castellini C (2013)

Publication Type: Journal article

Publication year: 2013

Journal

IEEE Transactions on Robotics Institute of Electrical and Electronics Engineers (IEEE)

Book Volume: 29

Pages Range: 207-219

Article Number: 6361492

Journal Issue: 1

DOI: 10.1109/TRO.2012.2226386

Abstract

At the time of this writing, the main means of control for polyarticulated self-powered hand prostheses is surface electromyography (sEMG). In the clinical setting, data collected from two electrodes are used to guide the hand movements selecting among a finite number of postures. Machine learning has been applied in the past to the sEMG signal (not in the clinical setting) with interesting results, which provide more insight on how these data could be used to improve prosthetic functionality. Researchers have mainly concentrated so far on increasing the accuracy of sEMG classification and/or regression, but, in general, a finer control implies a longer training period. A desirable characteristic would be to shorten the time needed by a patient to learn how to use the prosthesis. To this aim, we propose here a general method to reuse past experience, in the form of models synthesized from previous subjects, to boost the adaptivity of the prosthesis. Extensive tests on databases recorded from healthy subjects in controlled and noncontrolled conditions reveal that the method significantly improves the results over the baseline nonadaptive case. This promising approach might be employed to pretrain a prosthesis before shipping it to a patient, leading to a shorter training phase. © 2004-2012 IEEE.

Authors with CRIS profile

Claudio Castellini

Involved external institutions

idiap Research Institute CH Switzerland (CH) Toyota Technological Institute at Chicago US United States (USA) (US) Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) / German Aerospace Center DE Germany (DE)

How to cite

APA:

Tommasi, T., Orabona, F., Caputo, B., & Castellini, C. (2013). Improving control of dexterous hand prostheses using adaptive learning. IEEE Transactions on Robotics, 29(1), 207-219. https://dx.doi.org/10.1109/TRO.2012.2226386

MLA:

Tommasi, Tatiana, et al. "Improving control of dexterous hand prostheses using adaptive learning." IEEE Transactions on Robotics 29.1 (2013): 207-219.

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