内隐人类运动行为在假肢接口在线个性化中的应用
The Use of Implicit Human Motor Behaviour in the Online Personalisation of Prosthetic Interfaces
摘要：
在以前的工作中，作者提出了一种数据驱动的优化算法，用于个性化的人假肢接口，展示了适应假肢行为的可能性，而用户使用它执行任务。这种方法需要人和假肢个性化算法具有相同的预定义的目标函数。这在以前是通过向人类提供关于目标函数是什么的明确反馈来确保的。然而，不断地向假体用户显示该信息是不切实际的。此外，该方法利用目标函数中的任务信息，这些信息可能无法从通常用于假肢应用的可穿戴传感器中获得。在这项工作中，以前的方法被扩展到使用一个假体的目标函数的基础上隐含的人类运动行为，这代表健全的人类运动控制和可测量的可穿戴传感器。该方法在假肢肘上的个性化算法的硬件实现中进行测试，其中假肢目标函数是上身补偿的函数，并且使用可穿戴IMU进行测量。健全的科目使用额外的假肢肘部安装在肘部矫形器的实验结果表明，它是可以使用的假体目标函数，这是隐含在人类行为，以实现合作，而不提供明确的反馈给人类，激励进一步的研究。
英文摘要：
In previous work, the authors proposed a data-driven optimisation algorithm for the personalisation of human-prosthetic interfaces, demonstrating the possibility of adapting prosthesis behaviour to its user while the user performs tasks with it. This method requires that the human and the prosthesis personalisation algorithm have same pre-defined objective function. This was previously ensured by providing the human with explicit feedback on what the objective function is. However, constantly displaying this information to the prosthesis user is impractical. Moreover, the method utilised task information in the objective function which may not be available from the wearable sensors typically used in prosthetic applications. In this work, the previous approach is extended to use a prosthesis objective function based on implicit human motor behaviour, which represents able-bodied human motor control and is measureable using wearable sensors. The approach is tested in a hardware implementation of the personalisation algorithm on a prosthetic elbow, where the prosthetic objective function is a function of upper-body compensation, and is measured using wearable IMUs. Experimental results on able-bodied subjects using a supernumerary prosthetic elbow mounted on an elbow orthosis suggest that it is possible to use a prosthesis objective function which is implicit in human behaviour to achieve collaboration without providing explicit feedback to the human, motivating further studies.
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