NDLI: Experimental validation of imposed safety regions for neural controlled human patient self-feeding using the modular prosthetic limb

Content Provider	IEEE Xplore Digital Library
Author	Wester, B.A. Para, M.P. Sivakumar, A. Kutzer, M.D. Katyal, K.D. Ravitz, A.D. Beaty, J.D. McLoughlin, M.P. Johannes, M.S.
Copyright Year	2013
Description	Author affiliation: Res. & Exploratory Dev. Dept., Johns Hopkins Univ. Appl. Phys. Lab., Laurel, MD, USA (Wester, B.A.; Para, M.P.; Sivakumar, A.; Kutzer, M.D.; Katyal, K.D.; Ravitz, A.D.; Beaty, J.D.; McLoughlin, M.P.; Johannes, M.S.)
Abstract	This paper presents the experimental validation of software-based safety features implemented during the control of a prosthetic limb in self-feeding tasks with a human patient. To ensure safe operation during patient controlled movements of the limb, velocity-based virtual fixtures are constructed with respect to the patient's location and orientation relative to the limb. These imposed virtual fixtures or safety zones modulate the allowable movement direction and speed of the limb to ensure patient safety during commanded limb trajectories directed toward the patient's body or environmental obstacles. In this implementation, the Modular Prosthetic Limb (MPL) will be controlled by a quadriplegic patient using implanted intracortical electrodes. These virtual fixtures leverage existing sensors internal to the MPL and operate in conjunction with the existing limb control. Validation of the virtual fixtures was conducted by executing a recorded set of limb control inputs while collecting both direct feedback from the limb sensors and ground truth measurements of the limb configuration using a Vicon tracking system. Analysis of the collected data indicates that the system performed within the limitations prescribed by the imposed virtual fixtures. This successful implementation and validation enabled the approved clinical use of the MPL system for a neural controlled self-feeding task.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	877
Ending Page	884
File Size	1949967
Page Count	8
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696454
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Sensors Safety Kinematics Prosthetics Robots Tracking cortical control virtual fixtures teleoperation motion tracking patient safety self-feeding brain computer interface neural prosthetic system
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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