Computer Aided Design of a Microcomputer-Based Coordinated Control System of Upper Arm Prosthesis

Abstract

The control system of an upper arm prosthesis belongs to the category of multivariable coordinated control system. In order to perform any functional motion such as, for instance, raising a glass of drinking water to the lips, the motion of the elbow and wrist joints (flexion, extension, abduction, adduction, pronation and supination) of the prosthesis should be in close coordination with the motion of the shoulder joint of the amputee. The authors propose a two-level structure of control system. Also is proposed the concept of dominant variables. The mathematical model of the prosthesis and the coordinated control algorithms are presented and are verified by digital and hybrid simulation results.