A Closed Loop Prosthetic Hand as a Model Sensorimotor Circuit

Ian Saunders, Sethu Vijayakumar

Research output: Contribution to conferencePoster

Abstract

We present a novel manipulandum for understanding the sensorimotor processes involved in object grasping. We have developed a closed-loop prosthetic hand, with 2 degrees of control and 32 channels of vibrotactile feedback of fingertip force and finger positions. In order to understand this model sensorimotor circuit we first tackle two sub-problems: (Q1) Do we integrate artificial sensory feedback (vibrotactile) with our other modalities (vision, proprioception) in a statistically optimal manner based on sensory uncertainty? We run subjects through a pursuit tracking task with noisy visual and vibrotactile cues to cursor location, and describe the resulting trajectories with a Kalman filter model; and (Q2) Are grasp trajectories and temporal force profiles a predictable function of the actuation commands that control the hand and the available feedback? We run subjects through a new tracking task where the grasp size and force on an object are modulated, and compare the resulting trajectories to those predicted by the optimal feedback control (OFC) framework.
Original languageEnglish
Number of pages2
Publication statusPublished - 2009
EventComputiational Principles of Sensorimotor Learning (ESF International Workshop) - Kloster Irsee, Germany
Duration: 13 Sep 200915 Sep 2009

Workshop

WorkshopComputiational Principles of Sensorimotor Learning (ESF International Workshop)
Country/TerritoryGermany
CityKloster Irsee
Period13/09/0915/09/09

Keywords

  • Informatics
  • Computer Science

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