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.
Aim: Aim was to develop a dynamic path-tracking method for transhumeral prostheses to gain the capability of adhering to a straight-line path.
Method: Proposed method uses model predictive controller (MPC) developed based on the kinematic model of the prosthesis. Moreover, a shoulder matcher is proposed to match actual shoulder pose with the predicted shoulder pose and to select the best joint angles for the prosthesis for a particular instance. Furthermore, the proposed method is capable of dynamically updating the path if the human performs shoulder motions, which are not as planned by the MPC.
Results: Several experiments are conducted to validate the proposed method. The proposed method is capable of taking a straight-line path similar to a natural human.
Conclusion: This paper proposed a dynamic path-tracking method based on a model predictive controller. The proposed method is capable of taking the prosthetic hand on a straight-line path, which is similar to a path taken by a natural human hand.
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