Introduction and testing of an alternative control approach for a robotic prosthetic arm

Commercially available robotic prosthetic arms currently use independent joint control. An alternative controller involving only control of the hand in a Cartesian frame rather than controlling each joint independently is proposed and tested. An experimental 4DOF robotic arm was used as the platform...

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Veröffentlicht in:	The open biomedical engineering journal 2014, Vol.8 (1), p.93-105
Hauptverfasser:	Griggs, Lauren, Fahimi, Farbod
Format:	Artikel
Sprache:	eng
Schlagworte:	Cartesian Inverse kinematics Jacobians Motors Prosthetics Robotics Surgical implants Tasks
Online-Zugang:	Volltext
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