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Conference papers

Controlling upper-limb prostheses with body compensations

Abstract : 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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Conference papers
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Contributor : Mathilde Legrand Connect in order to contact the contributor
Submitted on : Thursday, December 3, 2020 - 4:31:27 PM
Last modification on : Friday, January 14, 2022 - 9:46:02 AM
Long-term archiving on: : Thursday, March 4, 2021 - 7:38:08 PM


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  • 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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