The broad goal of this application is to investigate the fundamental requirements for effective use of tools. The working hypothesis is that the central nervous system may take advantage of the apparent mechanical behavior of the neuro-muscular system (e.g., muscle elastic and viscous properties, skeletal geometry and inertia) to circumvent some of the major computational problems of controlling posture, movement and interactive tool-using behavior. The proposed research will study, kinematically-constrained motions, (e.g. opening a door) in which the hand may move only in certain directions. Experiments are proposed to evaluate the ability to perform a simple but highly-informative task- turning a crank (a handle mounted on a rod constrained to rotate about a pivot point). The experiments are to be augmented by and coordinated with theoretical studies. A detailed computer simulation of the upper extremity performing constrained motions will be developed. The work will also test a novel, biologically-motivated approach to controlling externally-powered arm prostheses which has been devised to enhance an amputee's ability to use tools. The controller makes a prosthesis mimic aspects of natural arm behavior: the response to external forces varies with co-activation of agonist and antagonist muscles while differential activation generates motion. The research method features an unique computer-controlled arm prosthesis. It can be programmed to mimic the behavior of any self- contained prothesis-existing or proposed. With the facility experiments can be performed which are not otherwise feasible with human subjects. Key aspects of the behavior of the (artificial) forearm can be manipulate directly-the way it responds to the human, the way it responds to the external world. Parallel studies of able-bodied subjects are planned to complement the experiments with amputees using the programmable prosthesis. Including amputees using powered arm prostheses in the study permits unique non-invasive perturbation experiments on human subjects. At the same time, a comparative study of able-bodied and amputee constrained- motion behavior will provide quantitative design specification for prosthesis control systems.

Agency
National Institute of Health (NIH)
Institute
National Institute of Arthritis and Musculoskeletal and Skin Diseases (NIAMS)
Type
Research Project (R01)
Project #
5R01AR040029-03
Application #
3160285
Study Section
Orthopedics and Musculoskeletal Study Section (ORTH)
Project Start
1989-07-01
Project End
1994-06-30
Budget Start
1991-07-01
Budget End
1992-06-30
Support Year
3
Fiscal Year
1991
Total Cost
Indirect Cost
Name
Massachusetts Institute of Technology
Department
Type
Schools of Engineering
DUNS #
City
Cambridge
State
MA
Country
United States
Zip Code
02139
Rancourt, D; Hogan, N (2001) Stability in force-production tasks. J Mot Behav 33:193-204
Rancourt, D; Hogan, N (2001) Dynamics of pushing. J Mot Behav 33:351-62
Lemay, M A; Galagan, J E; Hogan, N et al. (2001) Modulation and vectorial summation of the spinalized frog's hindlimb end-point force produced by intraspinal electrical stimulation of the cord. IEEE Trans Neural Syst Rehabil Eng 9:12-23
Fasse, E D; Hogan, N; Kay, B A et al. (2000) Haptic interaction with virtual objects. Spatial perception and motor control. Biol Cybern 82:69-83
Clancy, E A; Hogan, N (1999) Probability density of the surface electromyogram and its relation to amplitude detectors. IEEE Trans Biomed Eng 46:730-9
Lemay, M A; Hogan, N; van Dorsten, J W (1998) Issues in impedance selection and input devices for multijoint powered orthotics. IEEE Trans Rehabil Eng 6:102-5
St-Amant, Y; Rancourt, D; Clancy, E A (1998) Influence of smoothing window length on electromyogram amplitude estimates. IEEE Trans Biomed Eng 45:795-800
Clancy, E A; Hogan, N (1998) Influence of joint angle on the calibration and performance of EMG amplitude estimators. IEEE Trans Biomed Eng 45:664-8
Doeringer, J A; Hogan, N (1998) Intermittency in preplanned elbow movements persists in the absence of visual feedback. J Neurophysiol 80:1787-99
Krebs, H I; Brashers-Krug, T; Rauch, S L et al. (1998) Robot-aided functional imaging: application to a motor learning study. Hum Brain Mapp 6:59-72

Showing the most recent 10 out of 17 publications