用智能脚环通过腿部动作无标定控制假手，低成本易用。
Smart Ankleband for Plug-and-Play Hand-Prosthetic Control
- 用脚踝上的传感器+轻量神经网络识别腿部动作意图。
- 10人实验显示用户能高效完成日常任务，减少代偿动作。
- 无需校准、成本低，适合上肢截肢者日常使用。
构建机器人假肢需要基于传感器的接口，以提供执行手势所需的控制。传统肌电（EMG）假肢及新兴替代方案常受限于肌肉激活范围、高成本和复杂校准。本文提出一种低成本机器人系统，包含一个智能脚环，可直观、免校准地控制机械手，并配有一个根据腿部动作执行相应动作的机器人假手。脚环集成惯性测量单元（IMU）传感器与轻量级神经网络，从运动数据中推断用户意图的腿部动作。该系统显著推动了上肢截肢者对机器人假肢的采用率，实现低成本、低功耗、免校准的操作。我们采集了10名受试者的数据，并在一位上肢截肢者身上测试了原型脚环与机器人手的配合效果。结果表明，该系统使用户更高效地完成日常任务，所需代偿动作极少。
原文摘要 · Abstract (English)
Building robotic prostheses requires a sensor-based interface designed to provide the robotic hand with the control required to perform hand gestures. Traditional Electromyography (EMG) based prosthetics and emerging alternatives often face limitations such as muscle-activation limitations, high cost, and complex calibrations. In this paper, we present a low-cost robotic system composed of a smart ankleband for intuitive, calibration-free control of a robotic hand, and a robotic prosthetic hand that executes actions corresponding to leg gestures. The ankleband integrates an Inertial Measurement Unit (IMU) sensor with a lightweight neural network to infer user-intended leg gestures from motion data. Our system represents a significant step towards higher adoption rates of robotic prostheses among arm amputees, as it enables one to operate a prosthetic hand using a low-cost, low-power, and calibration-free solution. To evaluate our work, we collected data from 10 subjects and tested our prototype ankleband with a robotic hand on an individual with an upper-limb amputation. Our results demonstrate that this system empowers users to perform daily tasks more efficiently, requiring few compensatory movements.
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