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Title page for ETD etd-05102017-124208


Type of Document Dissertation
Author Alshammary, Nasser Abdullahi
URN etd-05102017-124208
Title Control and assessment of transhumeral prosthetic system
Degree PhD
Department Electrical Engineering
Advisory Committee
Advisor Name Title
Professor Michael Goldfarb Committee Chair
Professor Eric Barth Committee Member
Professor Gerasmos Bastas Committee Member
Professor Richard Alan Peters Committee Member
Professor Xenofon Koutsoukos Committee Member
Keywords
  • myoelectric control
  • transhumeral prosthesis
  • upper extremity prosthesis
  • Myoelectric prosthesis
  • coordinated control
  • joint synergy
  • EMG control
Date of Defense 2017-05-04
Availability unrestricted
Abstract
Traditional upper extremity prostheses are comprised of an elbow joint and a terminal device (often either a split-hook or a hand) and have typically been limited to a single control input. In the case of a myoelectric prosthesis, a single pair of electromyograms (EMG) inputs from the biceps and triceps muscles, respectively, is typically used to control both the elbow and terminal device. Dependence on a single input forces the prosthesis to be controlled in a sequential manner, where either the hand or elbow is controlled at any given time. With fewer inputs to control more joints, new control strategies are required to provide a transhumeral amputee with control of a limb that feels intuitive and natural. The objective of this work is the development of highly functional and intuitive coordinated controller for an arm prosthesis that exhibits improved functionality relative to existing prostheses. This work leverages recent advances in MEMS in order develop a controller that enables the simultaneous movement of the anatomical shoulder joint and prosthetic elbow joint, and also enables switching between control of a hand and elbow, and is used in conjunction with EMG input to provide enhanced whole arm (hand and elbow) control, relative to the traditional conventional control approach. This work involves implementing the control methods on a prosthesis prototype and conducting studies on amputee subject to assess the effectiveness of the coordinated controller in performing different reaching tasks relative to traditional sequential control devices.
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