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.