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Residual kinetics indices: a versatile interface for prosthetic control
Descriptive
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Title
Residual kinetics indices: a versatile interface for prosthetic control
Name
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Phillips
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Samuel Lon
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Samuel Phillips
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author
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Craelius
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William
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Advisory Committee
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William Craelius
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chair
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Dinos
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Advisory Committee
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Demitri
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Advisory Committee
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Demitri Metaxis
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Sue
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Advisory Committee
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Sue Sisto
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Rutgers University
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degree grantor
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Graduate School-New Brunswick
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school
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Text
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theses
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2007
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2007
Language
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English
PhysicalDescription
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electronic
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Extent
xii, 134 pages
Abstract
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This dissertation presents the development of Residual Kinetic Indices (RKI) as a potential control source for upper limb prosthetics. RKIs are the detectable mechanical remnant of a volitional (desired) motion within the stump or residuum of an amputee.
The RKI signal is detected using an array of pressure sensors to create a distributed pressure map, which is then filtered to determine volitional commands. These volitional commands can be used as a prosthetic control signal. The Hypotheses were: (1) RKIs are unique for specified functional tasks, (2) RKIs are repeatable for specified functional tasks intrasubject, and (3) RKIS are sufficient to control at least three degrees of freedom for a prosthetic system.
Specific contributions include the development of an measurement based anatomical notation for sensor placement, development of a testing protocol to quantitatively access residual kinetic prosthetic control, complete characterization of the entire prosthetic hand system, and preliminary testing of residual kinetic prosthetic control on five normal subjects and four affected subjects.
Each element of the prosthetic control system was first characterized. Then five normal subjects performed 18 unique motions with three repetitions each to determine the sensitivity of the RKI system to determine volition. All subjects were able to isolate at least three unique RKI motions. Nine motions were identified as potentially viable motions for prosthetic control. Preliminary testing was done on three amputees and one subject with hemiplegia to determine the effectiveness of the RKI system in affected populations. The hemiplegic subject demonstrated that the RKI signal could detect muscle movement even when no significant visible movement was noted. Two of the three amputees were successful users of the RKI system. One showed four independent control signals which would double the current state of the art myoelectric system using surface electrodes. RKI's demonstrate exciting potential for the use of prosthetic control for multi-degree of freedom prostheses.
The RKI signal is detected using an array of pressure sensors to create a distributed pressure map, which is then filtered to determine volitional commands. These volitional commands can be used as a prosthetic control signal. The Hypotheses were: (1) RKIs are unique for specified functional tasks, (2) RKIs are repeatable for specified functional tasks intrasubject, and (3) RKIS are sufficient to control at least three degrees of freedom for a prosthetic system.
Specific contributions include the development of an measurement based anatomical notation for sensor placement, development of a testing protocol to quantitatively access residual kinetic prosthetic control, complete characterization of the entire prosthetic hand system, and preliminary testing of residual kinetic prosthetic control on five normal subjects and four affected subjects.
Each element of the prosthetic control system was first characterized. Then five normal subjects performed 18 unique motions with three repetitions each to determine the sensitivity of the RKI system to determine volition. All subjects were able to isolate at least three unique RKI motions. Nine motions were identified as potentially viable motions for prosthetic control. Preliminary testing was done on three amputees and one subject with hemiplegia to determine the effectiveness of the RKI system in affected populations. The hemiplegic subject demonstrated that the RKI signal could detect muscle movement even when no significant visible movement was noted. Two of the three amputees were successful users of the RKI system. One showed four independent control signals which would double the current state of the art myoelectric system using surface electrodes. RKI's demonstrate exciting potential for the use of prosthetic control for multi-degree of freedom prostheses.
Note
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Ph.D.
Note
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Includes bibliographical references (p. 123-131).
Subject
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Topic
Biomedical Engineering
Subject
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Topic
Prosthesis
Subject
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Topic
Perceptual-motor processes
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Graduate School - New Brunswick Electronic Theses and Dissertations
Identifier
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rucore19991600001
Identifier
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http://hdl.rutgers.edu/1782.2/rucore10001600001.ETD.13487
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ETD_166
Identifier
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doi:10.7282/T3377952
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ETD doctoral
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Rights
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The author owns the copyright to this work.
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Copyright protected
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Open
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Name
Samuel Phillips
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Rutgers University. Graduate School-New Brunswick
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Non-exclusive ETD license
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Author Agreement License
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I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
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