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Investigations on upper limb prosthesis control with an active elbow
| Content Provider | Hyper Articles en Ligne (HAL) |
|---|---|
| Researcher | Mérad, Manelle |
| Date of Submission | 2017-12-01 |
| Abstract | Progress in mechatronics has enabled the improvement of upper limb prosthetics increasing the grasps catalog. However, a gap has been growing between the prosthesis technological possibilities and the methods to control it. Indeed, common myoelectric control strategy remains complex, especially for transhumeral amputees who can have an active elbow in addition to a prosthetic wrist and hand. Since most transhumeral amputees have a mobile residual limb, an interesting approach aims at utilizing this mobility to control intermediate prosthetic joints, like the elbow, based on the shoulder/elbow coordination observed in healthy movements. This thesis investigates the possibility of controlling an active prosthetic elbow using the residual limb motion, measured with inertial measurement units, and knowledge of the human motor control. A primary focus has been targeting the reaching movement for which a model has been built using regression tools and kinematic data from several healthy individuals. The model, implemented on a prosthesis prototype, has been tested with 10 healthy participants wearing the prototype to validate the concept, and with 6 amputated individuals. These participants also performed the task with a conventional myoelectric control strategy for comparison purpose. The results show that the inter-joint coordination-based control strategy is satisfying in terms of intuitiveness and reduction of the compensatory strategies. |
| File Format | |
| Language | French English |
| Publisher Institution | Université Pierre et Marie Curie - Paris VI |
| Access Restriction | Open |
| Subject Keyword | Upper limb prosthetics Transhumeral amputation Prosthetic elbow Prothèses du membre supérieur Amputation trans-humérale Coude prothétique Coordination inter-articulaire Stratégies de compensation Régression RBFN spi Engineering Sciences [physics] Automatic |
| Content Type | Text |
| Resource Type | Thesis |
