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Introduction and testing of an alternative control approach for a robotic prosthetic arm.

Griggs L, Fahimi F - Open Biomed Eng J (2014)

Bottom Line: An experimental 4DOF robotic arm was used as the platform for testing the proposed control approach.The two control methodologies, joint control and Cartesian control, were tested on five able-bodied human subjects.Improvement of one control methodology over the other was measured by the time it took for the subjects to complete a simple motor task.

View Article: PubMed Central - PubMed

Affiliation: Mechanical & Aerospace Engineering University of Alabama in Huntsville, Huntsville, 35899 Alabama, USA.

ABSTRACT
Commercially available robotic prosthetic arms currently use independent joint control. An alternative controller involving only control of the hand in a Cartesian frame rather than controlling each joint independently is proposed and tested. An experimental 4DOF robotic arm was used as the platform for testing the proposed control approach. As opposed to joint control, Cartesian control requires the solution to the inverse kinematics problem. The inverse kinematics solution was developed for the robotic arm using the extended Jacobian method. The two control methodologies, joint control and Cartesian control, were tested on five able-bodied human subjects. Improvement of one control methodology over the other was measured by the time it took for the subjects to complete a simple motor task. The timed trial results indicated that Cartesian control was both more intuitive and more effective than joint control. So, the results suggest that much improvement can be achieved by using the proposed Cartesian control methodology.

No MeSH data available.


Related in: MedlinePlus

Cartesian controller block diagram.
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Figure 7: Cartesian controller block diagram.

Mentions: The block diagram for the Cartesian controller is included in Fig. (7). The extended commanded velocity vector, x˙e, and the Hand Open-Close command are provided by user inputs using the GUIs described in Section 2.2.1. In version 1 and 2 of Cartesian control, the outputs of the GUI are mapped to the components of x˙e in the following manner: x˙ = Forward/Backward Speed, y˙ = Left/Right Speed, z˙ = Up/Down Speed, and 5(ω3)5 = Hand Rotation Rate. The extended commanded velocity vector, x˙e, is the only real-time input from the user. The rest of the block diagram shown in Fig. (7) is run in real-time by the target computer.


Introduction and testing of an alternative control approach for a robotic prosthetic arm.

Griggs L, Fahimi F - Open Biomed Eng J (2014)

Cartesian controller block diagram.
© Copyright Policy - open-access
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4231378&req=5

Figure 7: Cartesian controller block diagram.
Mentions: The block diagram for the Cartesian controller is included in Fig. (7). The extended commanded velocity vector, x˙e, and the Hand Open-Close command are provided by user inputs using the GUIs described in Section 2.2.1. In version 1 and 2 of Cartesian control, the outputs of the GUI are mapped to the components of x˙e in the following manner: x˙ = Forward/Backward Speed, y˙ = Left/Right Speed, z˙ = Up/Down Speed, and 5(ω3)5 = Hand Rotation Rate. The extended commanded velocity vector, x˙e, is the only real-time input from the user. The rest of the block diagram shown in Fig. (7) is run in real-time by the target computer.

Bottom Line: An experimental 4DOF robotic arm was used as the platform for testing the proposed control approach.The two control methodologies, joint control and Cartesian control, were tested on five able-bodied human subjects.Improvement of one control methodology over the other was measured by the time it took for the subjects to complete a simple motor task.

View Article: PubMed Central - PubMed

Affiliation: Mechanical & Aerospace Engineering University of Alabama in Huntsville, Huntsville, 35899 Alabama, USA.

ABSTRACT
Commercially available robotic prosthetic arms currently use independent joint control. An alternative controller involving only control of the hand in a Cartesian frame rather than controlling each joint independently is proposed and tested. An experimental 4DOF robotic arm was used as the platform for testing the proposed control approach. As opposed to joint control, Cartesian control requires the solution to the inverse kinematics problem. The inverse kinematics solution was developed for the robotic arm using the extended Jacobian method. The two control methodologies, joint control and Cartesian control, were tested on five able-bodied human subjects. Improvement of one control methodology over the other was measured by the time it took for the subjects to complete a simple motor task. The timed trial results indicated that Cartesian control was both more intuitive and more effective than joint control. So, the results suggest that much improvement can be achieved by using the proposed Cartesian control methodology.

No MeSH data available.


Related in: MedlinePlus