Journal
JOURNAL OF REHABILITATION RESEARCH AND DEVELOPMENT
Volume 42, Issue 3, Pages 327-341Publisher
JOURNAL REHAB RES & DEV
DOI: 10.1682/JRRD.2004.05.0052
Keywords
backlash; control; EPP; extended physiological proprioception; friction; limit cycles; nonlinearities; prosthesis; prosthetics; upper limb
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Funding
- NIBIB NIH HHS [R01 EB001672] Funding Source: Medline
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In general, externally powered prostheses do not provide proprioceptive feedback and thus require the user to rely on cognitively expensive visual feedback to effectively control the prosthesis. Applying the concept of extended physiological proprioception (EPP) to externally powered prostheses provides direct feedback to the user's proprioceptive system regarding the position, velocity, and forces applied to the prosthesis. However, electric elbows with EPP controllers developed at the Northwestern University Prosthetics Research Laboratory have exhibited unexplained jerky behavior in both clinical fittings and bench-top operation. In addition, the development of limit cycles, a specific type of constant-amplitude oscillation, had been observed in bench-top use of these elbows. Backlash and static friction within the EPP system were found to be primarily responsible for the development of limit cycles. Reducing static friction and backlash improved the system's performance. These results suggest that to most effectively implement EPP, prosthesis manufacturers should design prosthetic components that minimize static friction and backlash.
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