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Theses

Conception d'une prothèse bio-inspirée commandée par réseaux de neurones exploitant les signaux électromyographiques

Abstract : Research on upper-body prosthetic device is commonly divided in two categories: The prosthesis mechatronic conception and the human-machine interface dedicated to the control. This PhD thesis aims to bring together these two fields of research. The first step deals with control signals. Thus, a database containing electromyographic sequences and vision based joint coordinate measurements was created. Then, an artificial neural network achieves the motion estimation from electromyographic sequences. Accordingly, an under-actuated bio-inspired hand architecture is proposed to copy an organic hand motion while ensuring a grasping force distribution. This innovative approach allows to optimize the synergies imitation and proposes a control more intuitive for active prosthesis users.
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https://tel.archives-ouvertes.fr/tel-03209565
Contributor : Abes Star :  Contact
Submitted on : Tuesday, April 27, 2021 - 12:05:11 PM
Last modification on : Thursday, April 29, 2021 - 3:08:39 AM

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2020CLFAC058_KIRCHHOFER.pdf
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  • HAL Id : tel-03209565, version 1

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Simon Kirchhofer. Conception d'une prothèse bio-inspirée commandée par réseaux de neurones exploitant les signaux électromyographiques. Automatique / Robotique. Université Clermont Auvergne, 2020. Français. ⟨NNT : 2020CLFAC058⟩. ⟨tel-03209565⟩

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