A Comparative Study for Postural Synergy Synthesis Using Linear and Nonlinear Methods

Human controls dozens of muscles for di®erent hand postures in a coordinated manner. Such coordination is referred to as a postural synergy. Postural synergy has enabled an anthropomorphic robotic hand with many actuators to be applied as a prosthetic hand and controlled by two to three channels of biological signals. Principle component analysis (PCA) of the hand postures has become a popular way to extract the postural synergies. However, relatively big errors are often produced while the hand postures are reconstructed using these PCA-synthesized synergies due to the linearity nature of this method. This paper presents a comparative study in which the postural synergies are synthesized using both linear and nonlinear methods. Speci ̄cally, the Gaussian process (GP) latent variable model (GPLVM), as a nonlinear dimension reduction method, is implemented to produce nonlinear postural synergies and the hand postures can then be reconstructed from the two-dimensional synergy plane. Computational and experimental veri ̄cations show that the posture reconstruction errors are greatly reduced using this nonlinear method. The results suggest that the use of nonlinear postural synergies should be considered while applying a dexterous robotic hand as prosthesis. Versatile hand postures could be formed via only two channels of bio-signals.