CAN-Based Communication Interface for Industrial Servomotor Control in a Biomimetic Transhumeral Prosthesis

Cisne Ortega-Cabrera; Dennys J. Baez-Sanchez; Luis F. Guerrero-Vásquez; Luis J. Serpa-Andrade; Jorge O. Ordoñez-Ordoñez; Nathalia A. Chacón-Reino

doi:10.1007/978-3-032-07992-3_31

CAN-Based Communication Interface for Industrial Servomotor Control in a Biomimetic Transhumeral Prosthesis

Cisne Ortega-Cabrera
, Dennys J. Baez-Sanchez
, Luis F. Guerrero-Vásquez
, Luis J. Serpa-Andrade
, Jorge O. Ordoñez-Ordoñez
, Nathalia A. Chacón-Reino

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This research presents the development of a communication interface based on Controller Area Network (CAN) protocol for industrial servomotors control in a biomimetic transhumeral prosthesis. The system employs an ESP32 microcontroller running FreeRTOS to coordinate two RMD X6 motors responsible for elbow and forearm movements. Architecture incorporates Wi-Fi connectivity, a multitasking software design, and an efficient power system using buck converters. Experimental results demonstrated high precision (±0.004^∘), data integrity (1:1 ratio), and thermal stability over 20 h of continuous operation. Findings validate CAN protocol use for real-time control in biomedical applications.

Original language	English
Title of host publication	Proceedings of the Future Technologies Conference, FTC 2025, Volume 4
Editors	Kohei Arai
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	466-475
Number of pages	10
ISBN (Print)	9783032079916
DOIs	https://doi.org/10.1007/978-3-032-07992-3_31
State	Published - 2026
Event	Future Technologies Conference, FTC 2025 - Munich, Germany Duration: 6 Nov 2025 → 7 Nov 2025

Publication series

Name	Lecture Notes in Networks and Systems
Volume	1678 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	Future Technologies Conference, FTC 2025
Country/Territory	Germany
City	Munich
Period	6/11/25 → 7/11/25

Bibliographical note

Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.

Keywords

Biomimetic prosthesis
CAN protocol
Embedded systems
Industrial servomotors
Real-time communication

Access to Document

10.1007/978-3-032-07992-3_31

Cite this

Ortega-Cabrera, C., Baez-Sanchez, D. J., Guerrero-Vásquez, L. F., Serpa-Andrade, L. J., Ordoñez-Ordoñez, J. O., & Chacón-Reino, N. A. (2026). CAN-Based Communication Interface for Industrial Servomotor Control in a Biomimetic Transhumeral Prosthesis. In K. Arai (Ed.), Proceedings of the Future Technologies Conference, FTC 2025, Volume 4 (pp. 466-475). (Lecture Notes in Networks and Systems; Vol. 1678 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-032-07992-3_31

Ortega-Cabrera, Cisne ; Baez-Sanchez, Dennys J. ; Guerrero-Vásquez, Luis F. et al. / CAN-Based Communication Interface for Industrial Servomotor Control in a Biomimetic Transhumeral Prosthesis. Proceedings of the Future Technologies Conference, FTC 2025, Volume 4. editor / Kohei Arai. Springer Science and Business Media Deutschland GmbH, 2026. pp. 466-475 (Lecture Notes in Networks and Systems).

@inproceedings{c9aba4851a784d338af027f088c131e5,

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abstract = "This research presents the development of a communication interface based on Controller Area Network (CAN) protocol for industrial servomotors control in a biomimetic transhumeral prosthesis. The system employs an ESP32 microcontroller running FreeRTOS to coordinate two RMD X6 motors responsible for elbow and forearm movements. Architecture incorporates Wi-Fi connectivity, a multitasking software design, and an efficient power system using buck converters. Experimental results demonstrated high precision (±0.004∘), data integrity (1:1 ratio), and thermal stability over 20 h of continuous operation. Findings validate CAN protocol use for real-time control in biomedical applications.",

keywords = "Biomimetic prosthesis, CAN protocol, Embedded systems, Industrial servomotors, Real-time communication",

author = "Cisne Ortega-Cabrera and Baez-Sanchez, \{Dennys J.\} and Guerrero-V{\'a}squez, \{Luis F.\} and Serpa-Andrade, \{Luis J.\} and Ordo{\~n}ez-Ordo{\~n}ez, \{Jorge O.\} and Chac{\'o}n-Reino, \{Nathalia A.\}",

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Ortega-Cabrera, C, Baez-Sanchez, DJ, Guerrero-Vásquez, LF , Serpa-Andrade, LJ , Ordoñez-Ordoñez, JO & Chacón-Reino, NA 2026, CAN-Based Communication Interface for Industrial Servomotor Control in a Biomimetic Transhumeral Prosthesis. in K Arai (ed.), Proceedings of the Future Technologies Conference, FTC 2025, Volume 4. Lecture Notes in Networks and Systems, vol. 1678 LNNS, Springer Science and Business Media Deutschland GmbH, pp. 466-475, Future Technologies Conference, FTC 2025, Munich, Germany, 6/11/25. https://doi.org/10.1007/978-3-032-07992-3_31

CAN-Based Communication Interface for Industrial Servomotor Control in a Biomimetic Transhumeral Prosthesis. / Ortega-Cabrera, Cisne; Baez-Sanchez, Dennys J.; Guerrero-Vásquez, Luis F. et al.
Proceedings of the Future Technologies Conference, FTC 2025, Volume 4. ed. / Kohei Arai. Springer Science and Business Media Deutschland GmbH, 2026. p. 466-475 (Lecture Notes in Networks and Systems; Vol. 1678 LNNS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Serpa-Andrade, Luis J.

AU - Ordoñez-Ordoñez, Jorge O.

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N2 - This research presents the development of a communication interface based on Controller Area Network (CAN) protocol for industrial servomotors control in a biomimetic transhumeral prosthesis. The system employs an ESP32 microcontroller running FreeRTOS to coordinate two RMD X6 motors responsible for elbow and forearm movements. Architecture incorporates Wi-Fi connectivity, a multitasking software design, and an efficient power system using buck converters. Experimental results demonstrated high precision (±0.004∘), data integrity (1:1 ratio), and thermal stability over 20 h of continuous operation. Findings validate CAN protocol use for real-time control in biomedical applications.

AB - This research presents the development of a communication interface based on Controller Area Network (CAN) protocol for industrial servomotors control in a biomimetic transhumeral prosthesis. The system employs an ESP32 microcontroller running FreeRTOS to coordinate two RMD X6 motors responsible for elbow and forearm movements. Architecture incorporates Wi-Fi connectivity, a multitasking software design, and an efficient power system using buck converters. Experimental results demonstrated high precision (±0.004∘), data integrity (1:1 ratio), and thermal stability over 20 h of continuous operation. Findings validate CAN protocol use for real-time control in biomedical applications.

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Ortega-Cabrera C, Baez-Sanchez DJ, Guerrero-Vásquez LF , Serpa-Andrade LJ , Ordoñez-Ordoñez JO, Chacón-Reino NA. CAN-Based Communication Interface for Industrial Servomotor Control in a Biomimetic Transhumeral Prosthesis. In Arai K, editor, Proceedings of the Future Technologies Conference, FTC 2025, Volume 4. Springer Science and Business Media Deutschland GmbH. 2026. p. 466-475. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-032-07992-3_31