Affiliations: [a] Department of Electrical & Computer Engineering, Northwestern University, L359 Tech Institute, 2145 Sheridan Road, Evanston, IL 60208, USA | [b] VA Chicago Health Care System, Lakeside Division, Chicago, IL, USA | [c] Northwestern University Prosthetics Research Laboratory, 345 E. Superior Rm. 1441, Chicago, IL 60611, USA
Correspondence:
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Adrress for correspondence: Richard F. ff. Weir, Ph.D., 345 E. Superior Rm. 1441, Chicago, IL 60611, USA. Tel.: +1 312 238 6500; Fax: +1 312 238 6510; E-mail: [email protected].
Abstract: A two degree-of-freedom microprocessor based controller that uses the principle of Extended Physiological Proprioception (EPP), was designed for the simultaneous multifunctional control of upper-limb prostheses. In an EPP system, the output is related to the input by a mechanically “unbeatable” position servomechanism. Use of embedded microprocessor systems in the control of upper-limb prostheses provides a high degree of control algorithm flexibility allowing different control algorithms to be downloaded and executed in the same controller circuit. In addition, control parameters can be easily adjusted and tailored to different user capabilities. In a trans-humeral or shoulder disarticulation prosthesis we envision this controller enabling EPP control of both elbow flexion-extension, and humeral rotation. In a wrist disarticulation or trans-radial prosthesis this controller, in conjunction with other similar controllers, could provide EPP control of individual digits in a multifunctional hand prosthesis.
Keywords: prosthetics, upper extremity, extended physiological proprioception (EPP), microprocessor systems, position control, servo control, servomechanism, stiffness control
