Dannangoda Gamage Kanishka Madusanka, Gopura R A Ruwan C, Amarasinghe Y W Ranjith, Mann George K I
Bionics Laboratory, Department of Mechanical Engineering, University of Moratuwa, Moratuwa, Sri Lanka.
Medical Robotics and Biomechanics Laboratory, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China.
Int J Med Robot. 2019 Jun;15(3):e1980. doi: 10.1002/rcs.1980. Epub 2019 Jan 9.
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 was to develop a dynamic path-tracking method for transhumeral prostheses to gain the capability of adhering to a straight-line path.
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.
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.
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.
经肱骨截肢者佩戴经肱骨假肢以替代肩部和肘部之间缺失的上肢部分。假肢应能够像自然肢体一样发挥功能，以便使用者充分利用佩戴假肢的优势。上肢在进行伸手抓握和指向动作时，手部能够沿着具有钟形速度曲线的直线轨迹运动。
旨在开发一种用于经肱骨假肢的动态路径跟踪方法，使其具备沿着直线轨迹运动的能力。
所提出的方法使用基于假肢运动学模型开发的模型预测控制器（MPC）。此外，还提出了一种肩部匹配器，用于将实际肩部姿势与预测的肩部姿势进行匹配，并为特定情况下的假肢选择最佳关节角度。此外，如果人类执行的肩部运动与MPC计划的不同，所提出的方法能够动态更新路径。
进行了多项实验以验证所提出的方法。该方法能够沿着类似于自然人类的直线轨迹运动。
本文提出了一种基于模型预测控制器的动态路径跟踪方法。该方法能够使假肢手沿着类似于自然人类手部所走的直线轨迹运动。
