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Model predictive controller-based spatiotemporal path tracking method for transhumeral prostheses.

Kanishka Madusanka Dannangoda Gamage1,2, R A Ruwan C Gopura1, Y W Ranjith Amarasinghe3

  • 1Bionics Laboratory, Department of Mechanical Engineering, University of Moratuwa, Moratuwa, Sri Lanka.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|December 28, 2018
PubMed
Summary
This summary is machine-generated.

Researchers developed a dynamic path-tracking method for transhumeral prostheses, enabling natural, straight-line movements. This controller helps prosthetic hands mimic human motion for improved functionality.

Keywords:
model predictive controllerpath trackingreach-to-grasp path planningtranshumeral prosthesis

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Area of Science:

  • Biomedical Engineering
  • Robotics
  • Human-Machine Interaction

Background:

  • Transhumeral amputees utilize prostheses to replace the upper limb segment between the shoulder and elbow.
  • Effective prostheses should replicate natural limb function for optimal user benefit.
  • Natural upper limb motions, like reaching and pointing, follow a straight-line path with a specific velocity profile.

Purpose of the Study:

  • To develop a dynamic path-tracking method for transhumeral prostheses.
  • To enable prosthetic limbs to adhere to a straight-line path during movement.

Main Methods:

  • Utilized a model predictive controller (MPC) based on the prosthesis's kinematic model.
  • Implemented a shoulder matcher to align actual and predicted shoulder poses for optimal joint angle selection.
  • Enabled dynamic path adjustments in response to unplanned human shoulder motions.

Main Results:

  • Experimental validation confirmed the proposed method's effectiveness.
  • The transhumeral prosthesis demonstrated the ability to follow a straight-line path, mimicking natural human movement.

Conclusions:

  • A dynamic path-tracking method using MPC was successfully developed for transhumeral prostheses.
  • The prosthetic hand can achieve a straight-line trajectory comparable to a natural human hand.