Context-Aware Learning from Demonstration: Using Camera Data to Support the Synergistic Control of a Multi-Joint Prosthetic Arm
Bibliographic record
Abstract
Ahstract- Muscle synergies in humans are context-dependent-they are based on the integration of vision, sensorimotor information and proprioception. In particular, visual information plays a significant role in the execution of goal-directed grasping movements. Based on a desired motor task, a limb is directed to the correct spatial location and the posture of the hand reflects the size, shape and orientation of the grasped object. Such contextual synergies are largely absent from modern prosthetic robots. In this work, we therefore introduce a new algorithmic contribution to support the context-aware, synergistic control of multiple degrees-of-freedom of an upper-limb prosthesis. In our previous work, we showcased an actor-critic reinforcement learning method that allowed someone with an amputation to use their non-amputated arm to teach their prosthetic arm how to move through a range of coordinated motions and grasp patterns. We here extend this approach to include visual information that could potentially help achieve context-dependent movement. To study the integration of visual context into coordinated grasping, we recorded computer vision information, myoelectic signals, inertial measurements, and positional information during a subject's training a robotic arm. Our approach was evaluated via prediction learning, wherein our algorithm was tasked with accurately distinguishing between three different muscle synergies involving similar myoelectric signals based on visual context from a robot-mounted camera. These preliminary results suggest that even simple visual data can help a learning system disentangle synergies that would be indistinguishable based solely on motor and myoelectric signals recorded from the human user and their robotic arm. We therefore suggest that integrating learned, vision-contingent predictions about movement synergies into a prosthetic control system could potentially allow systems to better adapt to diverse situations of daily-life prosthesis use.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".