Applying Genetic Programming To Control Of An Artificial Arm

Created by W.Langdon from gp-bibliography.bib Revision:1.4496

  author =       "Kristin Farry and Jaime Fernandez and 
                 Robert Abramczyk and Mara Novy and Diane Atkins",
  title =        "Applying Genetic Programming To Control Of An
                 Artificial Arm",
  booktitle =    "Proceedings of the 1997 MyoElectric Controls/Powered
                 Prosthetics Symposium, MEC 97",
  year =         "1997",
  address =      "Fredericton, New Brunswick, Canada",
  month =        aug,
  organisation = "Institute of Biomedical Engineering, University of New
  keywords =     "genetic algorithms, genetic programming",
  URL =          "",
  size =         "6 pages",
  abstract =     "Robotics researchers at NASA's Johnson Space Center
                 (JSC) and Rice University have made substantial
                 progress in myoelectric teleoperation. A myoelectric
                 teleoperation system translates signals generated by an
                 able-bodied robot operator's muscles during hand
                 motions into commands that drive a robot's hand through
                 identical motions Farry's early work in myoelectric
                 teleoperation used variations over time in the
                 myoelectric spectrum as inputs to neural networks to
                 discriminate grasp types and thumb motions; schemes
                 yielded up to 93percent correct classification on thumb
                 motions. More recently, Fernandez achieved 100percent
                 correct non-realtime classification of thumb abduction,
                 extension, and flexion on the same myoelectric data
                 using genetic programming to develop functions that
                 discriminate between thumb motions using myoelectric
                 signal parameters. Genetic programming (GP) is an
                 evolutionary programming method where the computer can
                 modify the discriminating functions' form to improve
                 its performance, not just adjust numerical coefficients
                 or weights. While the function development may require
                 much computational time and many training cases, the
                 resulting discrimination functions can run in realtime
                 on modest computers These results suggest that
                 myoelectric signals might be a feasible teleoperation
                 medium, allowing an operator to use his own hand and
                 arm as a master to intuitively control an
                 anthropomorphic robot in a remote location such as
                 outer space. These early results imply that
                 multifunction myoelectric control based on genetic
                 programming is viable for prosthetics, since
                 teleoperation of a robot by an operator with a complete
                 limb is a limiting or 'best-case' scenario for
                 myoelectric control We suggest that myoelectric signals
                 of traumatic below-elbow amputees can control several
                 movements of a myoelectric hand with the help of a
                 function or functions developed with genetic
                 programming techniques. We are now testing this
                 hypothesis with the help of NASA/ISC under a NASA/JSC -
                 Texas Medical Center Cooperative Grant. In this study,
                 five adult below-elbow amputees are performing two
                 forearm motions, two wrist motions and two grasp
                 motions using their 'phantom' limb and sound limb while
                 we collect myoelectric data from four sites on the
                 residual limb and four sites from the sound limb. We
                 will use a variety of myoelectric signal time and
                 frequency features in a genetic programming analysis to
                 evolve functions that discriminate between signals
                 generated during different muscle contractions.",

Genetic Programming entries for Kristin A Farry Jaime Fernandez Robert Abramczyk Mara Novy Diane J Atkins