Task-Space Synergies for Reaching Using Upper-Limb Prostheses
Ricardo Garcia-Rosas, Denny Oetomo, Chris Manzie, Ying Tan, Peter Choong
IEEE Transactions on Neural Systems and Rehabilitation Engineering | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | Published : 2020
Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as the residual limb movement in motion-based interfaces. Previous studies demonstrated that developing human-prosthetic synergies in joint-space must consider individual motor behaviour and the intended task to be performed, requiring personalisation and task calibration. In this work, an alternative synergy-based strategy, utilising a synergistic relationship expressed in task-space, is proposed. This task-space synergy has the potential to replace the need for personalisation and ..View full abstract
This work was supported by the Valma Angliss Trust.