Slip Prediction for Upper-Limb Prosthetics

Smiles, Andrew

Slip Prediction for Upper-Limb Prosthetics

dc.contributor.author	Smiles, Andrew
dc.date.accessioned	2021-06-02T15:26:05Z
dc.date.available	2021-06-02T15:26:05Z
dc.date.issued	2021-06-02
dc.date.submitted	2021-05-30
dc.description.abstract	Amputees have greatly benefitted from improved prosthetic technologies, increasing dexterity, degrees of freedom, and attachment to the body, however sensory feedback has made comparatively little improvement. Osseointegration has been shown to produce a transcutaneous pathway to allow for long term stable invasive electrical stimulation [1], [2]. The need for useful prosthetic feedback has been pre-existing, however now there is the capability for prosthetics to begin recreating lost sensations through neural stimulation. This thesis investigates the ability to create a slip prediction system, in a currently existing and widely used commercially available prosthetic hand. This slip prediction system is designed to alert the user before slip begins to occur to maximize potential usefulness. Two methods of stimulation are compared to a no-stimulation baseline in execution of a task designed to induce slip. Improvements are indicated through a reduction in number of slips, and improved understanding of grip capabilities, shown by prosthetic movement planning within grasp limits. One stimulation condition delivers a single rapid stimulation “spike” as slip becomes more likely. The other stimulation condition delivers a continuous stimulation, with amplitude proportional to slip likelihood. The predictor is shown to have a prediction accuracy of 69% when used with feedback. Slips across all four participants were shown to be reduced by stimulation, as 53 slips occurred using no stim, 37 slips occurred using the spike feedback, and 31 slips occurred using the amplitude feedback; however this decrease was not shown to be statistically significant. This indicates that the neural stimulation slip prediction delivered in this thesis, provided additional and actionable information even when the participant could see, hear, and freely move the prosthesis.	en
dc.identifier.uri	http://hdl.handle.net/10012/17073
dc.language.iso	en	en
dc.pending	false
dc.publisher	University of Waterloo	en
dc.subject	amputee	en
dc.subject	prosthetic	en
dc.subject	prosthesis	en
dc.subject	sensory feedback	en
dc.subject	neural stimulation	en
dc.subject	slip	en
dc.subject	osseointegration	en
dc.subject	sensory synthesis	en
dc.subject	rehabilitation	en
dc.subject	tactile feedback	en
dc.subject	nerve stimulation	en
dc.subject	electrical stimulation	en
dc.subject	slip detection	en
dc.subject	slip prediction	en
dc.title	Slip Prediction for Upper-Limb Prosthetics	en
dc.type	Master Thesis	en
uws-etd.degree	Master of Applied Science	en
uws-etd.degree.department	Systems Design Engineering	en
uws-etd.degree.discipline	System Design Engineering	en
uws-etd.degree.grantor	University of Waterloo	en
uws-etd.embargo.terms	0	en
uws.comment.hidden	Corrections applied from reviews: -Title capitalization on Author's Declaration -Table of contents removed as entry from table of contents -"Appendices" added above first appendix in table of contents, localized by page number -"Appendices" title added above Appendix A	en
uws.contributor.advisor	Jiang, Ning
uws.contributor.affiliation1	Faculty of Engineering	en
uws.peerReviewStatus	Unreviewed	en
uws.published.city	Waterloo	en
uws.published.country	Canada	en
uws.published.province	Ontario	en
uws.scholarLevel	Graduate	en
uws.typeOfResource	Text	en

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