Performance evaluation of a computer simulation of an artificial arm using the principle of extended physiological proprioception.

Abstract

This research work investigates a control strategy for artificial arms called Extended Physiological Proprioception (EPP). EPP control relies on the fact that the body's natural position feedback, also called proprioception, can be "extended" outside the body to a tool or, in this case, an artificial arm. Hence, providing closed-loop operation without the use of visual feedback. The presence of a natural source of feedback is essential if subconscious operation of an artificial arm is desired. A hardware artificial arm was not used in this research, instead, a software simulation based on a sample mathematical model was employed. The interface between the human operation and the artificial arm was a virtual reality. The immense exploratory potential of virtual reality combined with our simulation was used to: (1) prove that EPP is adequate control strategy to "communicate the intent" of the operator to the artificial arm; (2) show that subconscious operation of the arm was possible, (3) demonstrate that several motions (realized through programmed linkages) could be learned, used and remembered, (4) show that adequate discrimination between the various linkages (motions) could be easily done; and finally (5) allow the formulation of various recommendations for future design of EPP controlled artificial arms.