A Method of Semiautomatic Control for an Arm Prosthesis

  • E. I. Vorobev
  • A. V. Mikheev
  • A. N. Konstantinov
Automation and Control in Machine Building

Abstract

A method of semiautomatic control of a full arm prosthesis is proposed. The arm prosthesis is viewed as a robotic manipulation system equipped with a pointing device determining the position of an object among others, a position sensor, and a microcontroller. In this regard, the translational motion of the prosthesis hand is done in the automatic mode, while its orientating motion is accomplished in the tracking mode by moving the foot with a master controller located in the shoe. A functional diagram of the control system is proposed along with an algorithm for controlling the motions.

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References

  1. 1.
    Vorob’ev, E.I, Mikheev, A.V., and Morgunenko, I.O., Artificial arm control by foot and leg action, J. Mach. Manuf. Reliab., 2017, vol. 46, no. 1, pp. 63–66.CrossRefGoogle Scholar
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    Vorob’ev, E.I and Dorofeev, V.O., Constructing the focusing movements of robot with linear and rotary drives, Probl. Mashinostr. Avtomatiz., 2017, no. 1, pp. 51–54.Google Scholar
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    Glazunov, V.A. and Kheilo, S.V., Controlling the spherical mechanism of parallel structure, Probl. Mashinostr. Avtomatiz., 2014, no. 2, pp. 27–33.Google Scholar

Copyright information

© Allerton Press, Inc. 2018

Authors and Affiliations

  • E. I. Vorobev
    • 1
  • A. V. Mikheev
    • 1
  • A. N. Konstantinov
    • 2
  1. 1.Blagonravov Institute of Machine ScienceRussian Academy of SciencesMoscowRussia
  2. 2.Physics and Technology Institute of the Moscow Technological UniversityMoscowRussia

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