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首页> 外文会议>Pan American Health Care Exchanges Conference >Implementing human-like motion patterns in a trans-humeral prosthesis of three degrees of freedom and parallel actuators
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Implementing human-like motion patterns in a trans-humeral prosthesis of three degrees of freedom and parallel actuators

机译：在三个自由度和平行致动器的跨肱骨假体中实施人类的运动模式

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This work purposes an innovative methodology for implementing and executing patterns of natural motion from a healthy human arm in an upper limb prostheses using parallel actuators. Firstly, it was developed a calibration control capable of simultaneously gathering on-line the movement range of all actuators of prosthesis. Then, ten calibration tests were performed in which movement ranges were characterized and averaged into single values called "calibration ranges". Later, the kinematics approximation of two activities of daily living (ADLs), already available from a previous work, were physically execute trough the control system already implemented in the tested prosthesis. Finally, positioning error and standard deviation of ADLs executed are obtained. The results gathered from experimentation take us to two different conclusions: 1) It was possible to properly perform the two characterized ADLs (with an average “positioning error” below 1.5 %), and 2) As ADLs applied were analyzed and reproduced by prosthesis at the elbow joint level, it is necessary a trade-off movement of user to properly perform the desired actions.
机译：这项工作目的是使用平行致动器在上肢假体中从健康人臂实施和执行自然​​运动模式的创新方法。首先，开发了一种能够同时在线地收集假体的所有致动器的移动范围的校准控制。然后，进行十个校准测试，其中在其中表征和平均到称为＆＃x0022;校准范围＆＃x0022;后来，从以前的工作中已经获得的每日生活（ADL）的3个活动的运动学近似是物理上执行槽，该控制系统已经在经过测试的假体中实现的控制系统。最后，获得了执行的ADL的定位误差和标准偏差。从实验中收集的结果需要我们的结论：1）可以适当地执行两个特征的ADL（平均＆＃x201c;定位误差＆＃x201d;低于1.5％）和2）作为分析的ADLS并通过肘关节水平的假体再现，用户的权衡运动是正确的，以适当地执行所需的行动。

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