Computational requirements for control of the Utah arm
SC Jacobsen, RB Jerard - Proceedings of the 1974 annual conference …, 1974 - dl.acm.org
SC Jacobsen, RB Jerard
Proceedings of the 1974 annual conference-Volume 1, 1974•dl.acm.orgFigure 1 illustrates an above-elbow amputee fitted with a three-degree-of-freedom prosthetic
arm. The development of a successful prosthetic arm requires the completion of two tasks.
First, a controller must be devised which can determine an amputee's desired limb motions
by monitoring a set of amputee generated signals. For example, the controller monitors a set
of EMG signals from selected muscles and the kinematic state of the limb. Secondly, an
electromechanical arm must be developed which can replace the amputee's missing …
arm. The development of a successful prosthetic arm requires the completion of two tasks.
First, a controller must be devised which can determine an amputee's desired limb motions
by monitoring a set of amputee generated signals. For example, the controller monitors a set
of EMG signals from selected muscles and the kinematic state of the limb. Secondly, an
electromechanical arm must be developed which can replace the amputee's missing …
Figure 1 illustrates an above-elbow amputee fitted with a three-degree-of-freedom prosthetic arm. The development of a successful prosthetic arm requires the completion of two tasks. First, a controller must be devised which can determine an amputee's desired limb motions by monitoring a set of amputee generated signals. For example, the controller monitors a set of EMG signals from selected muscles and the kinematic state of the limb. Secondly, an electromechanical arm must be developed which can replace the amputee's missing musculo-skeletal components.
The principal objective of this paper is to discuss the computational requirements for implementation of a control theory currently being developed at the University of Utah (Refs. 1, 4). Brief mention will also be made of other aspects of our artificial arm development project. Therefore, the following text is subdivided into four sections.