Extending mode switching to multiple degrees of freedom in hand prosthesis control is not efficient

摘要

In recent years, many sophisticated control strategies for multifunctional dexterous hand prostheses have been developed. It was indeed assumed that control mechanisms based on switching between degrees of freedom, which are in use since the 1960's, could not be extended to efficient control of more than two degrees of freedom. However, quantitative proof for this assumption has not been shown. In this study, we adopted the mode switching paradigm available in commercial prostheses for two degree of freedom control and we extended it for the control of seven functions (3.5 degrees of freedom) in a modern robotic hand. We compared the controllability of this scaled version of the standard method to a state of the art pattern recognition based control in an applied online study. The aim was to quantify whether multi-functional prosthetic control with mode switching outperformed pattern recognition in the control of a real prosthetic hand for daily life activities online. Although in simple grasp-release tasks the conventional method performed best, tasks requiring more complex control of multiple degrees of freedom required a more intuitive control method, such as pattern recognition, for achieving high performance.