Control System for Forearm Prosthesis with Three Degrees of Freedom in Wrist Module

摘要

The focus of the current research is the investigation of human wrist and its functions. The human wrist significantly contributes to human hand mobility, stability and manipulation activities. This research is devoted to the design of a control system for wrist module of a forearm prosthesis. The main features of the developed control system include three degrees-of-freedom in wrist module, minimization of physiological movements amplitude, provision of an ergonomic grip and holding objects regardless of their position, and the minimization of teaching period of a patient. By using a PID controller and a range of optimal settings, the authors made a functional control system which is able to work with a range of loads. The suggested control system can be used not only in existing prostheses but also in new projects of this field. This research and its perspectives would significantly improve the quality of life for people, who lost their limbs because of an amputation.