A Biorealistic Computational Model Unfolds Human-Like Compliant Properties for Control of Hand Prosthesis
<italic>Objective:</italic> Human neuromuscular reflex control provides a biological model for a compliant hand prosthesis. Here we present a computational approach to understanding the emerging human-like compliance, force and position control, and stiffness adaptation in a prosthetic h...
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IEEE
2022-01-01
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| Series: | IEEE Open Journal of Engineering in Medicine and Biology |
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| Online Access: | https://ieeexplore.ieee.org/document/9924590/ |
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| author | Zhuozhi Zhang Jie Zhang Qi Luo Chih-Hong Chou Anran Xie Chuanxin M. Niu Manzhao Hao Ning Lan |
| author_facet | Zhuozhi Zhang Jie Zhang Qi Luo Chih-Hong Chou Anran Xie Chuanxin M. Niu Manzhao Hao Ning Lan |
| author_sort | Zhuozhi Zhang |
| collection | DOAJ |
| description | <italic>Objective:</italic> Human neuromuscular reflex control provides a biological model for a compliant hand prosthesis. Here we present a computational approach to understanding the emerging human-like compliance, force and position control, and stiffness adaptation in a prosthetic hand with a replica of human neuromuscular reflex. <italic>Methods:</italic> A virtual twin of prosthetic hand was constructed in the MuJoCo environment with a tendon-driven anthropomorphic hand structure. Biorealistic mathematic models of muscle, spindle, spiking-neurons and monosynaptic reflex were implemented in neuromorphic chips to drive the virtual hand for real-time control. <italic>Results:</italic> Simulation showed that the virtual hand acquired human-like ability to control fingertip position, force and stiffness for grasp, as well as the capacity to interact with soft objects by adaptively adjusting hand stiffness. <italic>Conclusion:</italic> The biorealistic neuromorphic reflex model restores human-like neuromuscular properties for hand prosthesis to interact with soft objects. |
| format | Article |
| id | doaj-art-c6d27f4fdccf418d8f649a7094e6eb3a |
| institution | Matheson Library |
| issn | 2644-1276 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of Engineering in Medicine and Biology |
| spelling | doaj-art-c6d27f4fdccf418d8f649a7094e6eb3a2025-07-02T00:12:27ZengIEEEIEEE Open Journal of Engineering in Medicine and Biology2644-12762022-01-01315016110.1109/OJEMB.2022.32157269924590A Biorealistic Computational Model Unfolds Human-Like Compliant Properties for Control of Hand ProsthesisZhuozhi Zhang0https://orcid.org/0000-0002-8560-2857Jie Zhang1https://orcid.org/0000-0002-6075-2074Qi Luo2Chih-Hong Chou3https://orcid.org/0000-0002-8985-5050Anran Xie4Chuanxin M. Niu5https://orcid.org/0000-0001-6013-2492Manzhao Hao6https://orcid.org/0000-0001-8744-7128Ning Lan7https://orcid.org/0000-0001-6061-5419Laboratory of Neurorehabilitation Engineering, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, ChinaLaboratory of Neurorehabilitation Engineering, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, ChinaLaboratory of Neurorehabilitation Engineering, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, ChinaLaboratory of Neurorehabilitation Engineering, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, ChinaLaboratory of Neurorehabilitation Engineering, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, ChinaLaboratory of Neurorehabilitation Engineering, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, ChinaLaboratory of Neurorehabilitation Engineering, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, ChinaLaboratory of Neurorehabilitation Engineering, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China<italic>Objective:</italic> Human neuromuscular reflex control provides a biological model for a compliant hand prosthesis. Here we present a computational approach to understanding the emerging human-like compliance, force and position control, and stiffness adaptation in a prosthetic hand with a replica of human neuromuscular reflex. <italic>Methods:</italic> A virtual twin of prosthetic hand was constructed in the MuJoCo environment with a tendon-driven anthropomorphic hand structure. Biorealistic mathematic models of muscle, spindle, spiking-neurons and monosynaptic reflex were implemented in neuromorphic chips to drive the virtual hand for real-time control. <italic>Results:</italic> Simulation showed that the virtual hand acquired human-like ability to control fingertip position, force and stiffness for grasp, as well as the capacity to interact with soft objects by adaptively adjusting hand stiffness. <italic>Conclusion:</italic> The biorealistic neuromorphic reflex model restores human-like neuromuscular properties for hand prosthesis to interact with soft objects.https://ieeexplore.ieee.org/document/9924590/Compliant controlcomputational modelingneuromuscular reflexprosthetic handstiffness adaptation |
| spellingShingle | Zhuozhi Zhang Jie Zhang Qi Luo Chih-Hong Chou Anran Xie Chuanxin M. Niu Manzhao Hao Ning Lan A Biorealistic Computational Model Unfolds Human-Like Compliant Properties for Control of Hand Prosthesis IEEE Open Journal of Engineering in Medicine and Biology Compliant control computational modeling neuromuscular reflex prosthetic hand stiffness adaptation |
| title | A Biorealistic Computational Model Unfolds Human-Like Compliant Properties for Control of Hand Prosthesis |
| title_full | A Biorealistic Computational Model Unfolds Human-Like Compliant Properties for Control of Hand Prosthesis |
| title_fullStr | A Biorealistic Computational Model Unfolds Human-Like Compliant Properties for Control of Hand Prosthesis |
| title_full_unstemmed | A Biorealistic Computational Model Unfolds Human-Like Compliant Properties for Control of Hand Prosthesis |
| title_short | A Biorealistic Computational Model Unfolds Human-Like Compliant Properties for Control of Hand Prosthesis |
| title_sort | biorealistic computational model unfolds human like compliant properties for control of hand prosthesis |
| topic | Compliant control computational modeling neuromuscular reflex prosthetic hand stiffness adaptation |
| url | https://ieeexplore.ieee.org/document/9924590/ |
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