Chappell, DigbyDigbyChappellYang, ZeyuZeyuYangSon, Honn WeeHonn WeeSonBello, FernandoFernandoBelloKormushev, PetarPetarKormushevRojas, NicolasNicolasRojas2022-05-232022-09-282022 International Conference on Rehabilitation Robotics (ICORR), 2022http://hdl.handle.net/10044/1/96928Prosthetic hand control research typically focuses on developing increasingly complex controllers to achieve diminishing returns in pattern recognition of muscle activity signals, making models less suitable for user calibration. Some works have investigated transfer learning to alleviate this, but such approaches increase model size dramatically—thus reducing their suitability for implementation on real prostheses. In this work, we propose a novel, non-parametric controller that uses the Wasserstein distance to compare the distribution of incoming signals to those of a set of reference distributions, with the intended action classified as the closest distribution. This controller requires only a single capture of data per reference distribution, making calibration almost instantaneous. Preliminary experiments building a reference library show that, in theory, users are able to produce up to 9 distinguishable muscle activity patterns. However, in practice, variation when repeating actions reduces this. Controller accuracy results show that 10 non-disabled and 1 disabled participant were able to use the controller with a maximum of two recalibrations to perform 6 actions at an average accuracy of 89.9% and 86.7% respectively. Practical experiments show that the controller allows users to complete all tasks of the Jebsen-Taylor Hand Function Test, although the task of picking and placing small common objects required on average more time than the protocol’s maximum time.© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Conference Paperhttps://www.dx.doi.org/10.1109/ICORR55369.2022.9896480