Online Ph.D Defence by Daniel Noes Johansen
Daniel Noes Johansen will defend his PhD thesis: "A Novel Tongue and Myoelectric Hybrid Control Scheme for Robotic Hand Prostheses"
15.05.2020 kl. 13.00 - 16.00
13.00 Opening by the Moderator
13.05 PhD lecture by Daniel Noes Johansen
14.00 Questions and comments from the Committee
Questions and comments from the audience at the Moderator’s discretion
16.00 Conclusion of the session by the Moderator
Due to the current circumstances the Ph.D defence will take place online via Skype for Business. If you wish to attend, please send an email to Kristine Uldal Knudsen before 13. May 2020 at 12:00.
The Faculty Council has appointed the following adjudication committee to evaluate the thesis and the associated lecture:
Professor John Paulin Hansen,
Technical University of Denmark
Professor José Pons
Associate Professor Laura Petrini
Associate Professor Romulus Lontis
Upper limb amputation affect hundreds of thousands individuals globally. Losing a hand or an arm, will result in a loss of upper extremity functionality and will affect the ability to perform Activities of Daily Living (ADL) e.g. reaching and grasping. Therefore, most often some of this lost functionality will be sought to be regained using assistive technology and prosthetic devices. Several research and development projects have had a focus on increasing functional use of myoelectric upper limb prosthetics, and the technical development and advances in upper extremity prosthetics have led to increasingly more advanced devices that require intuitive and robust control systems. A potential new control modality for enhancing control of upper limb prosthetics is the Inductive Tongue Control System (ITCS). The ITCS provides the functionally of a wireless keyboard, is robust, seldom needs calibration.
The general aim of this industrial-Ph.D. project has been to investigate the feasibility of using the Inductive Tongue Control System (ITCS) for enhancing control of multifunctional hand prosthetics, and the objectives related to this were; 1. Development of the control scheme, 2. Establishing proof of concept, 3. Implementation and test, 4. Functional evaluation in an ADL context.
This doctoral thesis presents the work and three studies related to developing and evaluating the novel tongue and myoelectric hybrid control scheme (TMH) for robotic hand prostheses, in which the ITCS allow for activation of grasps and myoelectric signals are used for closing and opening a robotic hand prosthesis. Study I relates to the design and testing of the TMH concept using computer simulations of a prosthetic hand. This proof of concept inherently led to study II concerning the evaluation of an actual implementation of the TMH control scheme. Study III was focused on evaluating the TMH control scheme in a functional bimanual ADL related setting with the aim of investigating if the enhanced performance in a highly controlled environment found in study II, translates into enhanced functional performance for actual ADL tasks.
From the preliminary pilot-studies and the studies I and II conducted in relation to the aims and objectives of this thesis, it has been shown that significant faster activation time (AT) of desired grasps or functions of a prosthetic device is possible when using the proposed TMH as compared to an EMG based conventional sequential on/off control scheme. Based on the functional evaluation of the TMH control scheme, it was also concluded that the TMH allowed for significant faster completion of a bimanual ADL task, which involved preparing and wrapping a sandwich, as compared to an EMG based conventional sequential on/off control scheme. The developed TMH control scheme also has obvious applicability in other contexts beside prosthesis control, and future work could be carried out in relation to control of e.g. industrial robotic manipulators, surgical robots, exoskeletons and assistive robotic arms.
HST - Department of Health Science and Technology
Skype for Business
13.05.2020 kl. 12.00