@InProceedings{legrand:hal-03038844,
  author      = {Legrand, Mathilde and Jarrassé, Nathanael and Marchand, Charlotte and Richer, Florian and Touillet, Am{\'e}lie and MARTINET, No{\"e}l and Paysant, Jean and Morel, Guillaume},
  title       = {{Controlling upper-limb prostheses with body compensations}},
  booktitle   = {{WeRob}},
  year        = {2020},
  address     = {Valencia, Spain},
  month       = Oct,
  abstract    = {With their advanced mechatronics, myoelectric upper-limb prostheses now have many motion possibilities. Yet, the latter are not fully employed because of the inconvenient control and prostheses wearers often use their device as a rigid tool while achieving hand positioning and orientation with compensatory movements. In this paper, we propose to take advantage of this natural human behaviour to control prosthesis motions: the user is in charge of the end-effector while the devices role is to correct the human posture when necessary. We here apply this concept to control a prosthetic wrist pronosupination. A Rolyan clothespin test performed by two transradial amputees shows that the proposed control is as efficient as myoelectric control while requiring no learning. },
  category    = {ACTIS},
  crac        = {n},
  hal         = {y},
  hal_id      = {hal-03038844},
  hal_version = {v1},
  pdf         = {https://hal.archives-ouvertes.fr/hal-03038844/file/WeRob2020_51.pdf},
  url         = {https://hal.archives-ouvertes.fr/hal-03038844},
}