by Mathilde Legrand, Nathanael Jarrassé, Charlotte Marchand, Florian Richer, Amélie Touillet, Noël MARTINET, Jean Paysant, Guillaume Morel
Bibtex Entry:
@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},
}