Uniform TitleResidual kinetics indices: a versatile interface for prosthetic control
NamePhillips, Samuel Lon (author), Craelius, William (chair), Mavrodis, Dinos (internal member), Metaxis, Demitri (internal member), Sisto, Sue (outside member), Rutgers University, Graduate School-New Brunswick,
DescriptionThis dissertation presents the development of Residual Kinetic Indices (RKI) as a
potential control source for upper limb prosthetics. RKIs are the detectable mechanical
remnant of a volitional (desired) motion within the stump or residuum of an amputee.
The RKI signal is detected using an array of pressure sensors to create a distributed
pressure map, which is then filtered to determine volitional commands. These volitional
commands can be used as a prosthetic control signal. The Hypotheses were: (1) RKIs are
unique for specified functional tasks, (2) RKIs are repeatable for specified functional
tasks intrasubject, and (3) RKIS are sufficient to control at least three degrees of freedom
for a prosthetic system.
Specific contributions include the development of an measurement based anatomical
notation for sensor placement, development of a testing protocol to quantitatively access
residual kinetic prosthetic control, complete characterization of the entire prosthetic hand
system, and preliminary testing of residual kinetic prosthetic control on five normal
subjects and four affected subjects.
Each element of the prosthetic control system was first characterized. Then five normal
subjects performed 18 unique motions with three repetitions each to determine the sensitivity of the RKI system to determine volition. All subjects were able to isolate at least three unique RKI motions. Nine motions were identified as potentially viable motions for prosthetic control. Preliminary testing was done on three amputees and one subject with hemiplegia to determine the effectiveness of the RKI system in affected
populations. The hemiplegic subject demonstrated that the RKI signal could detect
muscle movement even when no significant visible movement was noted. Two of the
three amputees were successful users of the RKI system. One showed four independent
control signals which would double the current state of the art myoelectric system using
surface electrodes. RKI's demonstrate exciting potential for the use of prosthetic control
for multi-degree of freedom prostheses.
Note[bibliography] Includes bibliographical references (p. 123-131).
CollectionGraduate School - New Brunswick Electronic Theses and Dissertations
Organization NameRutgers, The State University of New Jersey
RightsThe author owns the copyright to this work.