HUMAN-MACHINE INTERFACE BASED ON TASK-SPECIFIC TEMPORAL POSTURAL SYNERGIES
First Claim
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1. A method of controlling movement of an extremity comprising:
- performing a plurality of tasks with a movement recording component having a plurality of joints;
extracting a plurality of temporal postural synergies from angular velocities of the plurality of joints based on the performance of the plurality of tasks;
receiving a plurality of control signals from a subject with a neurological disorder;
controlling the subset of the plurality of temporal postural synergies with the plurality of control signals;
convolving a subset of the plurality of control signals and the subset of temporal postural synergies with a plurality of finite impulse filters;
adding an output response from the plurality of finite impulse filters that obtains a resultant angular velocity profile; and
integrating the resultant angular velocity profile that obtains a joint position used to control movement of the extremity.
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Abstract
A synergy-based human-machine interface that uses low-dimensional command signals to control a high dimensional virtual, robotic or paralyzed human hand is provided. Temporal postural synergies are extracted from angular velocities of finger joints of five healthy subjects when they perform hand movements that are similar to activities of daily living. Extracted Synergies are used in real-time brain control, where a virtual, robotic or paralyzed human hand is controlled to manipulate virtual or real world objects.
9 Citations
20 Claims
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1. A method of controlling movement of an extremity comprising:
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performing a plurality of tasks with a movement recording component having a plurality of joints; extracting a plurality of temporal postural synergies from angular velocities of the plurality of joints based on the performance of the plurality of tasks; receiving a plurality of control signals from a subject with a neurological disorder; controlling the subset of the plurality of temporal postural synergies with the plurality of control signals; convolving a subset of the plurality of control signals and the subset of temporal postural synergies with a plurality of finite impulse filters; adding an output response from the plurality of finite impulse filters that obtains a resultant angular velocity profile; and integrating the resultant angular velocity profile that obtains a joint position used to control movement of the extremity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A human-machine interface (HMI) system comprising:
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an extraction component that extracts a plurality of kinematic synergies via a movement recording component, wherein the movement recording component includes a plurality of joints; a transformation component that transforms a subset of kinematic synergies from a digital library into a plurality of temporal postural synergies; a receiving component that receives control signals from a subject having neurological disorders; a convolving component that convolves the control signals and the plurality of temporal postural synergies with a plurality of finite impulse filters; a combination component that combines output responses from the convolving component that obtains a resultant angular velocity profile; and a calculating component that calculates movement of an extremity based on the resultant angular velocity profile. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification