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Theses

Upper limb prostheses control based on user's body compensations

Abstract : In recent years, the development of advanced mechatronics for upper-limb prostheses has led to technological improvements such as a better fixation system to the body with osseointegration or a larger number of degrees of freedom. However, providing these devices with a natural and efficient control is still a major challenge. Current approaches, such as myoelectric control, all show limitations, that can lead prosthetic users to abandon the active dimension of the device, use it as a rigid tool and perform the desired task with body compensations. To avoid such a behavior, we propose in this PhD thesis to employ body compensatory motions as an error signal to control the prosthetic device. With this concept, the human subject is in charge of the end-effector task, while the prosthesis is in charge of its user’s posture. This proposition is implemented and tested to control prosthetic wrist and elbow joints, individually and then simultaneously. The presented experiments first confirm that using body compensations as controller input does not enhance them. They then show the easy learning of the control scheme by naive subjects, its task-versatility and its scalability. A theoretical study completes this work and analyzes in details the human-robot coupling created. The foundations thus laid open exciting perspectives for an intuitive prosthesis control.
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https://tel.archives-ouvertes.fr/tel-03360709
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Submitted on : Friday, October 1, 2021 - 1:08:51 AM
Last modification on : Saturday, October 2, 2021 - 3:38:21 AM

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LESTOILLE_Mathilde_2021.pdf
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  • HAL Id : tel-03360709, version 1

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Mathilde Legrand. Upper limb prostheses control based on user's body compensations. Automatic. Sorbonne Université, 2021. English. ⟨NNT : 2021SORUS019⟩. ⟨tel-03360709⟩

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