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Communication Dans Un Congrès Année : 2020

Controlling upper-limb prostheses with body compensations

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

Résumé

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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Dates et versions

hal-03038844 , version 1 (03-12-2020)

Identifiants

  • HAL Id : hal-03038844 , version 1

Citer

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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