IEEE Robotics & Automation Magazine - December 2017 - 106
(a)
(b)
(c)
(d)
Figure 4. The dynamic protocol: in one iteration, the user traverses positions (a), (b), (c), (d), and (a) in the stated order.
(a)
(b)
(c)
(d)
(e)
(f)
(g)
(h)
(i)
(j)
Figure 5. The classes of motion: (a) relax, (b) open, (c) force, (d) tripod, (e) finger point, (f) key, (g) wrist extension, (h) wrist flexion,
(i) pronation, and (j) supination.
used for most ADL. This dynamic protocol is consistent with
other studies [12].
The dynamic protocol examined ten classes of upperextremity motion comprising six grip patterns (relax,
open, force, tripod, finger point, and key) and four grossarm movements (wrist extension, wrist flexion, supination,
and pronation), as shown in Figure 5. These specific classes of motion were chosen to include two separate groups:
1) six primary grips for ADL [16] (relax, open, force, tripod, finger point, and key), and 2) eight classes of motion
consistent with other research groups [11] (relax, open,
106
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DECEMBER 2017
force, tripod, wrist extension, wrist flexion, supination,
and pronation). Compared to the cited study [11], the
pinch grip was replaced by a tripod grip because it is one
of the primary grips of bebionic 3 and its corresponding
muscle activation is similar to a pinch. When performing
the dynamic protocol, each motion was held for 15 s and
executed five times.
The effects of two factors on the performance of the device
were studied: 1) the impact of different FSR configurations
inside the socket and 2) the impact of EMG features on classification accuracy.
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