Toward Human-in-the-Loop Shared Control for Upper-Limb Prostheses: A Systematic Analysis of State-of-the-Art Technologies

Dexterous prosthetic hand is an essential rehabilitation assistant device to improve the life quality of amputee patients. Despite the continuous emergence of commercial prostheses and laboratory prototypes, the rejection rate remains high caused by the poor neural interaction performance and excessive cognitive burden, especially for the usage of upper-arm prostheses controlled by above-the-elbow amputation stump. The progress in artificial perception, bidirectional neural interface and share control indicates a great potential to improve the manipulation efficiency of upper-limb prostheses. In this review, a comprehensive analysis of human-in-the-loop shared control studies is presented to provide researchers with a systematic technical route in upper-limb prostheses control. The latest avenues of research concerning myoelectric control, sensory feedback, perception, autonomous motion planning of multiple degree of freedom elbow-wrist, and share control are overviewed and discussed. The comprehensive assessments show that there remains inadequate technologies to achieve an anthropomorphic and efficient unified elbow-wrist-hand prostheses manipulation. By delineating the current shortcomings, the outcomes of this work highlight future investigation in the field of intuitive motion control, feedback of proprioception/touch and the natural interaction between human intent and machine autonomy.