Sensor-Placement-Agnostic Sonomyography: Toward Continuous High-Dimensional Control by Users with Tetraplegia

📄 arXiv: 2607.26401v1 📥 PDF

作者: Gavin Sueltz, Vikram Athithan, Emma Ferran, Maria Herrera, Carson J. Wynn, Laura A. Hallock

分类: cs.HC, cs.RO, eess.SP

发布日期: 2026-07-29

备注: Vikram Athithan, Emma Ferran, Maria Herrera, and Carson J. Wynn contributed equally to this work. Copyright 2026 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media

💡 一句话要点

提出传感器位置无关的声肌图控制系统以解决四肢瘫痪用户的高维控制问题

🎯 匹配领域: 支柱三：空间感知与语义 (Perception & Semantics)

关键词: 声肌图 四肢瘫痪 设备控制 稀疏光流 实时系统 高维控制 康复技术 人机交互

📋 核心要点

  1. 现有声肌图(SMG)方法需要大量特定于用户和传感器位置的训练数据，限制了其应用。
  2. 本文提出了一种传感器位置无关的SMG控制系统，基于稀疏光流跟踪技术，能够快速实现1自由度和2自由度控制。
  3. 实验结果表明，参与者在不同传感器位置上均能实现低于5.5%的跟踪误差，展示了该方法的有效性和灵活性。

📝 摘要（中文）

声肌图(SMG)通过超声波测量肌肉变形信号实现连续设备控制，但现有SMG接口通常需要大量特定于用户和传感器位置的训练数据，并且只能提供单一的比例信号或任务特定分类。本文提出了一种基于稀疏光流跟踪的实时SMG控制系统，能够在最小校准（3个姿势定义）后实现连续的1自由度控制。我们还初步扩展了该方法，通过短时间的计算机辅助校准实现2自由度控制。实验结果显示，所有参与者在所有测试的传感器位置上均能实现连续的1自由度控制，跟踪误差均低于5.5%。

🔬 方法详解

问题定义：本文旨在解决现有声肌图(SMG)方法在用户和传感器位置特定训练数据需求过高的问题，限制了其在四肢瘫痪用户中的应用。

核心思路：提出了一种基于稀疏光流跟踪的实时SMG控制系统，能够在最小校准后实现连续的1自由度控制，并通过计算机辅助校准扩展至2自由度控制。

技术框架：系统主要包括信号采集模块、稀疏光流跟踪模块和控制输出模块。信号采集模块负责获取超声波数据，光流跟踪模块用于实时处理信号并生成控制指令。

关键创新：该系统的创新点在于其传感器位置无关性，能够在不同的传感器位置上实现高效控制，且只需少量的姿势定义进行校准。

关键设计：系统设计中采用了稀疏光流算法进行信号处理，确保了高效的实时性能，并通过短时间的计算机辅助校准实现了2自由度控制的扩展。实验中，参与者在不同位置的跟踪误差均低于5.5%。

🖼️ 关键图片

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📊 实验亮点

实验结果显示，所有参与者在不同传感器位置上均能实现连续的1自由度控制，跟踪误差低于5.5%。此外，参与者能够通过2自由度系统调节2D光标位置，部分参与者成功完成2D绘图任务，展示了该方法的有效性和灵活性。

🎯 应用场景

该研究的潜在应用领域包括医疗康复、辅助技术和人机交互等。通过实现高维度的控制，能够为四肢瘫痪用户提供更灵活的设备控制方式，提升其生活质量。未来，该技术有望在智能假肢和其他辅助设备中得到广泛应用。

📄 摘要（原文）

Sonomyography (SMG) enables continuous device control via ultrasound-measured muscle deformation signals, but existing SMG interfaces generally require substantial user- and sensor-location-specific training data and provide only one proportional signal or task-specific classification. We present a real-time, sensor-placement-agnostic SMG control system based on sparse optical flow tracking that enables continuous 1-DOF control after minimal calibration (3 pose definitions). We also present a preliminary expansion of this method that augments this algorithm with a short computer-aided calibration to enable 2-DOF control. We evaluate both 1- and 2-DOF systems' performance for a preliminary cohort of 3 cervical spinal cord injury survivors and 6 uninjured individuals across 6 sensor placements spanning the arm, neck, and upper torso. As assessed by a cursor trajectory tracking task, all participants achieved continuous 1-DOF control at all tested sensor locations (even those that relied on passive tissue motions), with all participants achieving <5.5% tracking error using at least one placement (and many <4% across many). All participants were also able to modulate 2D cursor position via the 2-DOF system, with varying levels of control authority, and several were able to complete a 2D drawing task, constituting the first (to our knowledge) demonstration of location-agnostic multi-DOF continuous SMG-based control. These results highlight the promise of SMG to enable rapidly calibratable, high-dimensional, sensor-placement-agnostic device control by users with tetraplegia, and also illuminate key challenges in both signal processing and practical system deployment. To enable further development by scientific and user communities, developed algorithms have been open-sourced as part of the OpenMyoControl project on SimTK (simtk.org/projects/openmyocontrol).