In this paper we introduce the use of force feedback in conjunction with myoelectric control to establish an improved interface for a powered prosthetic limb. The force feedback is delivered through a single-axis exoskeleton worn about the elbow, while the EMG signal is derived from the biceps muscle. This combination is intended to produce a sense of effort in the biceps that is associated with the action of the motorized prosthetic gripper. The method engages both efferent and afferent signals innervating a functional muscle with the aim of realizing a muscle that is effectively biarticular. The controlling muscle spans one joint physiologically and a second, prosthetic joint functionally. Preliminary experiments have demonstrated that force feedback can substitute for vision during grasp and lift tasks.
['R. Brent Gillespie', 'John Baker', "Marcia K. O'Malley", 'Patricia A. Shewokis', 'Jose L. Contreras-Vidal']
Functionally biarticular control for smart prosthetics