An Intelligent Upper Limb Prosthesis with Crossmodal Integration and Recognition

Abstract

In this paper, we present a prosthetic system for humeral amputation patients. The design of neuro-prosthesis includes the remaining upper arm receiving cavity, forearm, wrist and five-fingered hand, which has 8 degrees of freedom driven by 8 actuators. The outline dimensions, structural design, dynamics system and motion control of the prosthetic system, as well as a crossmodal-based integration control method, which combines EMG signal, IMU signal, visual information and tactile information, are presented. The reliability of the state control of the inertial measurement unit is verified through simple task experiments. Results show our proposed method has a good manipulation performance. This work has a potential to improve the human-computer interaction experience with prosthesis.