Motion Algorithms for a Neuroprosthesis Equipped with Velostat Sensors

The objective of this extended version of our previous paper [1] is to present some new motion algorithms tested on a neural prosthesis prototype that is equipped with manually fabricated Velostat sensors used for providing tactile feedback to the patient. This neural prosthesis was developed as part of a larger research project that aims to capture biological signals with the help of implants at the level of the median nerve and ulnar nerve. These signals will later be processed with various techniques to be suitable for triggering the movement of the prosthesis. Such a prosthetic device is intended to help the large number of patients who suffer from upper limb amputation. The implemented motion algorithms are based on how the motors, that are part of the mechatronics structure, rotate in one direction or another, with a certain speed, to achieve a specific movement. The implemented algorithms are functional, they have been successfully tested on the experimental assembly containing the mechatronics structure and the command-and-control block. The signals received from the pressure sensors with Velostat can also be used for the stimulation of the implanted electrodes, wrapped around the remaining nerves of the patients' stump, and the user will perceive a tactile sensation. This way the bidirectional communication will be possible between the user and the prosthesis.