A MYOELECTRIC PROSTHETIC ARM CONTROLLED BY A SENSOR-ACTUATOR LOOP

Authors

  • Patrik Kutílek Czech Technical University in Prague, Faculty of Biomedical Engineering, nam. Sitna 3105, 272 01 Kladno
  • Jan Hýbl Czech Technical University in Prague, Faculty of Biomedical Engineering, nam. Sitna 3105, 272 01 Kladno
  • Jakub Mareš Czech Technical University in Prague, Faculty of Biomedical Engineering, nam. Sitna 3105, 272 01 Kladno
  • Vladimír Socha Czech Technical University in Prague, Faculty of Biomedical Engineering, nam. Sitna 3105, 272 01 Kladno
  • Pavel Smrčka Czech Technical University in Prague, Faculty of Biomedical Engineering, nam. Sitna 3105, 272 01 Kladno

DOI:

https://doi.org/10.14311/AP.2014.54.0197

Abstract

This paper describes new methods and systems designed for application in upper extremity prostheses. An artificial upper limb with this system is a robot arm controlled by EMG signals and a set of sensors. The new multi-sensor system is based on ultrasonic sensors, infrared sensors, Hall-effect sensors, a CO2 sensor and a relative humidity sensor. The multi-sensor system is used to update a 3D map of objects in the robot’s environment, or it directly sends information about the environment to the control system of the myoelectric arm. Occupancy grid mapping is used to build a 3D map of the robot’s environment. The multi-sensor system can identify the distance of objects in 3D space, and the information from the system is used in a 3D map to identify potential collisions or a potentially dangerous environment, which could damage the prosthesis or the user. Information from the sensors and from the 3D map is evaluated using a fuzzy expert system. The control system of the myoelectric prosthetic arm can choose an adequate reaction on the basis of information from the fuzzy expert system. The systems and methods were designed and verified using MatLab/Simulink. They are aimed for use as assistive technology for disabled people.

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Published

2014-06-27

Issue

Vol. 54 No. 3 (2014)

Section

Articles

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How to Cite

Kutílek, P., Hýbl, J., Mareš, J., Socha, V., & Smrčka, P. (2014). A MYOELECTRIC PROSTHETIC ARM CONTROLLED BY A SENSOR-ACTUATOR LOOP. Acta Polytechnica, 54(3), 197-204. https://doi.org/10.14311/AP.2014.54.0197