让假肢手连续精准控制并反馈触感，提升使用者的感知与操作体验。
Examining the physical and psychological effects of combining multimodal feedback with continuous control in prosthetic hands
- 用震动手环实时传递假肢位置感，实现连续动作控制。
- 定位误差低于10%，抓力误差低于20%，闭眼识别能力恢复至传统水平。
- 残障者更觉身体完整，心理负担更低，适合康复与人机交互研究。
肌电假肢手通常仅支持离散位置控制，且缺乏感官反馈。本文提出并评估了一种闭环连续肌电假肢手控制器，可连续控制多自由度假肢位置，并通过触觉反馈臂带向用户传递本体感觉。招募了28名无肢体差异者和10名有肢体差异者，通过独立控制与感知任务、灵巧性评估、具身化与任务负荷问卷及术后访谈，全面评估该系统物理与心理影响。结合本体感觉反馈与连续控制后，定位误差均值低于10%，抓力误差均值低于20%，盲视物体识别能力恢复至开环离散控制器水平。灵巧性测试与具身化问卷显示，除感知觉显著增强（p < 0.001）外，各控制方式在物理表现与心理具身感上无显著差异。有无肢体差异者间存在关键差异，如身体完整感与挫败感，可为未来假肢设计与康复提供依据。
原文摘要 · Abstract (English)
Myoelectric prosthetic hands are typically controlled to move between discrete positions and do not provide sensory feedback to the user. In this work, we present and evaluate a closed-loop, continuous myoelectric prosthetic hand controller, that can continuously control the position of multiple degrees of freedom of a prosthesis while rendering proprioceptive feedback to the user via a haptic feedback armband. Twenty-eight participants without and ten participants with limb difference were recruited to holistically evaluate the physical and psychological effects of the controller via isolated control and sensory tasks, dexterity assessments, embodiment and task load questionnaires, and post-study interviews. The combination of proprioceptive feedback and continuous control enabled accurate positioning, to within 10% mean absolute motor position error, and grasp-force modulation, to within 20% mean absolute motor force error, and restored blindfolded object identification ability to open-loop discrete controller levels. Dexterity assessment and embodiment questionnaire results revealed no significant physical performance or psychological embodiment differences between control types, with the exception of perceived sensation, which was significantly higher (p < 0.001) for closed-loop controllers. Key differences between participants with and without upper limb difference were identified, including in perceived body completeness and frustration, which can inform future prosthesis development and rehabilitation.
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