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Controlling upper-limb prostheses with body compensations

Nathanael Jarrasse
Charlotte Marchand
  • Function : Author
Florian Richer
  • Function : Author
Amélie Touillet
  • Function : Author
Noël Martinet
  • Function : Author
  • PersonId : 780873
  • IdRef : 180560298
Jean Paysant
  • Function : Author
Guillaume Morel


With their advanced mechatronics, myoelectric upper-limb prostheses now have many motion possibilities. Yet, the latter are not fully employed because of the inconvenient control and prostheses wearers often use their device as a rigid tool while achieving hand positioning and orientation with compensatory movements. In this paper, we propose to take advantage of this natural human behaviour to control prosthesis motions: the user is in charge of the end-effector while the devices role is to correct the human posture when necessary. We here apply this concept to control a prosthetic wrist pronosupination. A Rolyan clothespin test performed by two transradial amputees shows that the proposed control is as efficient as myoelectric control while requiring no learning.
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hal-03038844 , version 1 (03-12-2020)


  • HAL Id : hal-03038844 , version 1


Mathilde Legrand, Nathanael Jarrasse, Charlotte Marchand, Florian Richer, Amélie Touillet, et al.. Controlling upper-limb prostheses with body compensations. WeRob, Oct 2020, Valencia, Spain. ⟨hal-03038844⟩
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