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

Background: Transhumeral prostheses are worn by transhumeral amputees to replace the missing upper limb segment between shoulder and elbow. Prostheses should be able to function as a natural limb for the user to gain the full advantage of wearing a prosthesis. When performing reach-to-grasp and pointing motions by the upper limb, the hand is capable of adhering to a straight-line path with a bell-shaped velocity profile.

Transradial prostheses: Trends in development of hardware and control systems.

Background: Prosthesis is a wearable device that intends to provide the functionality and/or appearance of a missing body part. In the case of trans-radial prostheses, the wearer or the trans-radial amputee is fitted with an artificial wrist and a hand that is either mechanically or electro-mechanically operated. Main aim is to enable the wearer to perform activities of daily living with minimal external assistance.