Abstract
Objective. We describe a novel human–machine interface for the control of a two-dimensional (2D) computer cursor using four inertial measurement units (IMUs) placed on the user’s upper-body. Approach. A calibration paradigm where human subjects follow a cursor with their body as if they were controlling it with their shoulders generates a map between shoulder motions and cursor kinematics. This map is used in a Kalman filter to estimate the desired cursor coordinates from upper-body motions. We compared cursor control performance in a centre-out reaching task performed by subjects using different amounts of information from the IMUs to control the 2D cursor. Main results. Our results indicate that taking advantage of the redundancy of the signals from the IMUs improved overall performance. Our work also demonstrates the potential of non-invasive IMU-based body–machine interface systems as an alternative or complement to brain–machine interfaces for accomplishing cursor control in 2D space. Significance. The present study may serve as a platform for people with high-tetraplegia to control assistive devices such as powered wheelchairs using a joystick.
Highlights
Damage to the spinal cord causes long-lasting and devastating loss of motion, coordination, weakness, and altered reflexes, usually below the level where the injury occurred
We have developed a novel approach for a body–machine interface that harnesses the overabundant number of signals from the cache of body movements that users are still capable to execute
Requiring subjects to perform different tasks allowed them to practice in a safe and controlled environment. These results demonstrate the validity of using a body–machine interface with a Kalman filter to control a 2D cursor on a screen and to control a simulated powered wheelchair
Summary
Damage to the spinal cord causes long-lasting and devastating loss of motion, coordination, weakness, and altered reflexes, usually below the level where the injury occurred. Even when the injuries occur at a high level of the spinal cord, some residual motor and sensory capacity remains available. These functions serve as the means to control assistive devices such as tools, computers, and wheelchairs. Other novel methods incorporate inertial measurement units (IMUs) on the head (Mandel et al 2007) or electroencephalography (EEG) (Iturrate et al 2009, Carlson and Demiris 2012) to convert individuals’ intentions into steering commands for a powered wheelchair
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