Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Cognitive vision system for control of dexterous prosthetic hands: Experimental evaluation | Dosen et al. Journal of NeuroEngineering and Rehabilitation 2010 7 42 http content 7 1 42 IHl JOURNAL OF NEUROENGINEERING NCR AND REHABILITATION RESEARCH Open Access Cognitive vision system for control of dexterous prosthetic hands Experimental evaluation 1 -2 3 2a4 z 2 Strahinja Dosen Christian Cipriani Milos Kostic Marco Controzzi Maria C Carrozza Dejan B Popovic Abstract Background Dexterous prosthetic hands that were developed recently such as SmartHand and i-LIMB are highly sophisticated they have individually controllable fingers and the thumb that is able to abduct adduct. This flexibility allows implementation of many different grasping strategies but also requires new control algorithms that can exploit the many degrees of freedom available. The current study presents and tests the operation of a new control method for dexterous prosthetic hands. Methods The central component of the proposed method is an autonomous controller comprising a vision system with rule-based reasoning mounted on a dexterous hand CyberHand . The controller termed cognitive vision system CVS mimics biological control and generates commands for prehension. The CVS was integrated into a hierarchical control structure 1 the user triggers the system and controls the orientation of the hand 2 a high-level controller automatically selects the grasp type and size and 3 an embedded hand controller implements the selected grasp using closed-loop position force control. The operation of the control system was tested in 13 healthy subjects who used Cyberhand attached to the forearm to grasp and transport 18 objects placed at two different distances. Results The system correctly estimated grasp type and size nine commands in total in about 84 of the trials. In an additional 6 of the trials the grasp type and or size were different from the optimal ones but they were still good enough for the grasp to be successful. If the control task was simplified by decreasing the
