Computational requirements for control of the utah arm

ABSTRACT

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.

REFERENCES

• 1: Jacobsen, S.C., "Control Systems for Artificial Arms," MIT Ph.D. Thesis, 1973.
• 2: Jacobsen, S.C., Jerard, R.B., and Knutti, D., "Preliminary Report on the Utah Arm," Conference on Engineering Devices in Rehabilitation, Boston, May 1974.
• 3: Jacobsen, S.C., and Jerard, R.B., "Torsion of Rope-Connected Hoops Leads to Light Weight Prosthetic Actuator," 26th ACEMB, September 1973.
• 4: Jacobsen, S.C., and Mann, R.W., "Control Systems for Artificial Arms," IEEE Conf. on Man. Sys. and Cybernetics, November 1973.
• 5: Jacobsen, S.C., and Mann, R.W., "The Analytical Derivation of a Controller for a Multi-Axis Artificial Arm," 26th ACEMB, September 1973.
• 6: Wirta, R.W., Taylor, D.R., Jr ., "Multiple-Axis Myoelectrically Controlled Prosthetic Arm." Final Report from F.H. Krusen Center for Research and Engineering, Mass. Rehab. Hospital, Philadelphia, Pa.
• 7: Mann, R.W., "Efferent and Afferent Control of an Electromyographic, Proportional-Rate, Force Sensing Artificial Elbow with Cutaneous Display of Joint Angle," Basic Problems of Prehension, Movement and Control of Artificial Limbs, Institute of Mechanical Engineers, 1969.
• 8: Jerard, Robert B.,T. Walley Williams, III , Cord W. Ohlenbusch, "Practical Design of an EMG Controlled Above Elbow Prosthesis," 1974 Conference on Engineering Devices in Rehabilitation, Tufts University School of Medicine.

INDEX TERMS

Primary Classification:
  J. Computer Applications
  J.3 LIFE AND MEDICAL SCIENCES

General Terms:
Human Factors, Theory