Computing the positioning error of an upper-arm robotic prosthesis from the observation of its wearer’s posture
Alexis Poignant Mathilde Legrand Nathanaël Jarrassé Guillaume Morel Alexis Poignant Mathilde Legrand Nathanaël Jarrassé Guillaume Morel
When the arm prosthesis worn by an amputated Human being is not adequately configured with respect to the end-effector task, body compensations are often observed. Namely, to compensate for a wrong joint positioning on the robotic distal side, a subject trying to reach a desired position/orientation of his/her hand mobilizes his/her proximal joints, thus exploiting the redundancy of the human+robo...