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A closed-loop and ergonomic control for prosthetic wrist rotation

Mathilde Legrand 1, 2 Nathanaël Jarrassé 1, 2 Florian Richer 1, 2 Guillaume Morel 1, 2 
1 AGATHE - Assistance aux Gestes et Applications THErapeutiques
INSERM - Institut National de la Santé et de la Recherche Médicale : U1150, ISIR - Institut des Systèmes Intelligents et de Robotique
Abstract : Beyond the ultimate goal of prosthetics, repairing all the capabilities of amputees, the development line of upper-limb prostheses control mainly relies on three aspects: the robustness, the intuitiveness and the reduction of mental fatigue. Many complex structures and algorithms are proposed but no one question a common open-loop nature, where the user is the one in charge of correcting errors. Yet, closing the control loop at the prosthetic level may help to improve the three main lines of research cited above. One major issue to build a closed-loop control is the definition of a reliable error signal; this paper proposes to use body compensations, naturally exhibited by prostheses users when the motion of their device is inaccurate, as such. The described control scheme measures these compensatory movements and makes the prosthesis move in order to bring back the user into an ergonomic posture. The function of the prosthesis is no longer to perform a given motion but rather to correct the posture of its user while s/he focus on performing an endpoint task. This concept was validated and compared to a standard open-loop scheme, for the control of a prosthetic wrist, with five healthy subjects completing a dedicated task with a customized transradial prosthesis. Results show that the presented closed-loop control allows for more intuitiveness and less mental burden without enhancing body compensation.
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Submitted on : Monday, June 29, 2020 - 5:34:27 PM
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Mathilde Legrand, Nathanaël Jarrassé, Florian Richer, Guillaume Morel. A closed-loop and ergonomic control for prosthetic wrist rotation. IEEE International Conference on Robotics and Automation, May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197554⟩. ⟨hal-02884219⟩



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