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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...
The state of the art and already on market electromechanical prosthesis are mostly implemented by using the sequential movement of actuators, which give extra load to each other during movement. As a solution to this problem, some of the newest prosthesis (mostly in development) use simultaneous movement of actuators instead, which increase their overall load capacity and their DOF. However, backbones...
This paper proposes a novel method for sensing obstacles and hand grasping activities in electromechanical arm prosthesis. The described method is based on indirectly sensing `Stall' condition in prosthesis actuators through hall-effect sensors already embedded on its dc motors, thus not requiring external sensors. To test the proposed methodology, an electromechanical arm prosthesis of 3 degrees...
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