Stable, simultaneous and proportional 4-DoF prosthetic hand control via synergy-inspired linear interpolation: a case series

Table 1 Natural hand control criteria [11,12,13,14,15,16,17,18,19]

Category	Criteria (a controller providing natural hand control should…)
Runtime	be responsive; processing time < 100 ms
Theoretical Capability	have many Degrees of Freedom (DoF)
	be Proportional; allow variable hand speed
	allow Simultaneous DoF activation
	be Continuous; not limit simultaneous DoF activations to fixed ratios
Accuracy	have a low error rate
Practicality	provide Intuitive control
	have a low daily set-up time
	require infrequent training
Impact	be functionally beneficial
	be tolerant to daily use
	address a large commercial audience

The terms proportional, simultaneous, and intuitive commonly appear in literature. Continuous controllers typically appear in literature as regressions and contrast with classifiers, which only allow movement in fixed, pre-defined DoF ratios. Studies often increase the number of movement classes rather than the number of continuously-controlled DoF

ISSN: 1743-0003