Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously “unseen” objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control. ; Open-Access-Publikationsfonds 2014 ; peerReviewed


    Access

    Download


    Export, share and cite



    Title :

    Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback


    Contributors:

    Publication date :

    2014-01-30


    Remarks:

    24516504



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Task-Dependent Adaptations in Closed-Loop Motor Control Based on Electrotactile Feedback

    Dideriksen, Jakob L. / Mercader, Irene Uriarte / Dosen, Strahinja | BASE | 2022

    Free access

    Closed-Loop Control of a Multifunctional Myoelectric Prosthesis With Full-State Anatomically Congruent Electrotactile Feedback

    Garenfeld, Martin A. / Strbac, Matija / Jorgovanovic, Nikola et al. | BASE | 2023

    Free access

    Force feedback type closed-loop control underwater propeller

    LI GUANGHUA / WANG TAIKUN / LU BINGJU et al. | European Patent Office | 2021

    Free access

    Dynamic Grasping Force Control Using Tactile Feedback for Grasp of Multifingered Hand

    Maekawa, H. / Tanie, K. / Komoriya, K. | British Library Online Contents | 1996


    The impact of objective functions on control policies in closed-loop control of grasping force with a myoelectric prosthesis

    Mamidanna, Pranav / Dideriksen, Jakob Lund / Dosen, Strahinja | BASE | 2021

    Free access