@InProceedings{wendelin_biorob26,
  author      = {Karg, W. and Kulozik, J. and Nocito, P. and Mick, S. and Jarrassé, N.},
  title       = {A Myoelectric Switching, Multi-Mode, Movement-Based Approach for Versatile Prosthetic Elbow Control},
  booktitle   = {IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)},
  year        = {2026},
  address     = {Edmonton, Canada},
  month       = Sep,
  abstract    = {Modern upper-limb prostheses offer a high number of functional degrees of freedom that still cannot be controlled in an intuitive manner. Movement-based control approaches aim to overcome these limitations by leveraging the user's natural motor behavior as a control input. Methods such as Compensation Effect Amplification Control (CEAC) have been shown to be intuitive and effective for various tasks, but CEAC exhibits a significant loss in performance in situations where a single postural control mapping (i.e. the relationship between human and prosthetic movement) is insufficient. To increase the versatility of CEAC, we propose a hybrid control architecture, combining the postural input with a discrete voluntary input. The proposed framework was evaluated in a study with ten asymptomatic subjects wearing a supernumerary prosthesis to perform an advanced reach-tograsp task. Trunk flexion served as the postural control input for the prosthetic elbow, while a 2-channel-myoelectric signal was used to open/close the prosthetic hand and to modulate the postural control law. Using simple cocontraction patterns, users could temporarily switch to either of two additional control mappings. Performance was compared against a fixed postural controller (CEAC) and a remote-controlled elbow as a fully reliable, deterministic benchmark. The new control architecture allowed participants to significantly reduce compensatory movement compared to CEAC. The results indicate that adding a sparse auxiliary signal such as EMG presents a viable approach to increasing the versatility of movement-based control for upper-limb prostheses.},
  category    = {ACTIS},
  crac        = {n},
  doi         = {xx},
  file        = {:http\://hal.science/hal-05757571/document:PDF;},
  hal         = {y},
  hal_id      = {hal-05757571v1},
  hal_version = {v1},
}