User-Selectable Impedance and Sensory Feedback for Improving Upper-Limb Prosthesis Control
Monday, February 17, 2014
9:00 am - 10:00 am
Hudson Hall 207
Humans can use their arms to interact dexterously and dynamically with a wide range of environments. Present-day prosthetic arms have the physical capability to reproduce complex human motions, but their user feedback and control systems do not allow users to control their movement with the same ease and grace as natural human arms. This work addresses two important aspects of human arm control that are currently not matched in prosthesis control: impedance modulation (the ability to change the relationship between external forces applied to the limb and the resulting limb motion) and sensory feedback (proprioceptive motion feedback about the position and motion of one's limbs and slip feedback about an object slipping out of one's grasp). The goal of this work is to identify design requirements for advanced prosthetic limbs with user-selectable impedance and sensory feedback to improve a user's ability to interact naturally with the physical world. .