Development of a Control System for a Biomechanical Prosthetic

Bryam Estuardo Fajardo Montaleza; John Ignacio Calle Siguencia; Mónica Alexandra Romero Sacoto; María Emilia Fernández de Córdova-Arteaga

doi:10.1007/978-3-031-51982-6_10

Development of a Control System for a Biomechanical Prosthetic

Bryam Estuardo Fajardo Montaleza, John Ignacio Calle Siguencia, Mónica Alexandra Romero Sacoto, María Emilia Fernández de Córdova-Arteaga

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

Abstract

This work details the development of a control system for the MAKI biomechanical hand prosthetic, developed by the Biomedical Engineering Research Group (GIIB). For the control of the prosthetic, the use of hierarchical control, consisting of 3 levels: high, medium, and low-level control is proposed. In the high-level control, a neural network is developed to classify movements, with the Electromyography (EMG) signals as input and the movement required by the user as output. In the medium-level control, a finite state machine is developed which is in charge of guaranteeing the coherence of the movements and eliminating possible errors that the neural network may have; finally, as a low-level control, positioning control is implemented in this way, guaranteeing that the prosthetic can perform the established movements. In this research, it has been determined that using a state machine eliminates some errors that can be generated when changing from one state to another. In the same way, an essential aspect of a classifier is segmentation; the greater the segmentation, the lower the error in the classifier.

Original language	English
Title of host publication	Systems, Smart Technologies and Innovation for Society - Proceedings of CITIS 2023
Editors	Juan Pablo Salgado-Guerrero, Hector Rene Vega-Carrillo, Gonzalo García-Fernández, Vladimir Robles-Bykbaev
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	98-117
Number of pages	20
ISBN (Print)	9783031519819
DOIs	https://doi.org/10.1007/978-3-031-51982-6_10
State	Published - 2024
Event	8th International Conference on Science, Technology and Innovation for Society, CITIS 2023 - Guayaquil, Ecuador Duration: 26 Jul 2023 → 28 Jul 2023

Publication series

Name	Lecture Notes in Networks and Systems
Volume	870 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	8th International Conference on Science, Technology and Innovation for Society, CITIS 2023
Country/Territory	Ecuador
City	Guayaquil
Period	26/07/23 → 28/07/23

Bibliographical note

Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

Keywords

Finite state machine
Hierarchical control
Neural network
Position control

Access to Document

10.1007/978-3-031-51982-6_10

Cite this

Fajardo Montaleza, B. E., Siguencia, J. I. C., Sacoto, M. A. R., & de Córdova-Arteaga, M. E. F. (2024). Development of a Control System for a Biomechanical Prosthetic. In J. P. Salgado-Guerrero, H. R. Vega-Carrillo, G. García-Fernández, & V. Robles-Bykbaev (Eds.), Systems, Smart Technologies and Innovation for Society - Proceedings of CITIS 2023 (pp. 98-117). (Lecture Notes in Networks and Systems; Vol. 870 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-51982-6_10

Fajardo Montaleza, Bryam Estuardo ; Siguencia, John Ignacio Calle ; Sacoto, Mónica Alexandra Romero et al. / Development of a Control System for a Biomechanical Prosthetic. Systems, Smart Technologies and Innovation for Society - Proceedings of CITIS 2023. editor / Juan Pablo Salgado-Guerrero ; Hector Rene Vega-Carrillo ; Gonzalo García-Fernández ; Vladimir Robles-Bykbaev. Springer Science and Business Media Deutschland GmbH, 2024. pp. 98-117 (Lecture Notes in Networks and Systems).

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title = "Development of a Control System for a Biomechanical Prosthetic",

abstract = "This work details the development of a control system for the MAKI biomechanical hand prosthetic, developed by the Biomedical Engineering Research Group (GIIB). For the control of the prosthetic, the use of hierarchical control, consisting of 3 levels: high, medium, and low-level control is proposed. In the high-level control, a neural network is developed to classify movements, with the Electromyography (EMG) signals as input and the movement required by the user as output. In the medium-level control, a finite state machine is developed which is in charge of guaranteeing the coherence of the movements and eliminating possible errors that the neural network may have; finally, as a low-level control, positioning control is implemented in this way, guaranteeing that the prosthetic can perform the established movements. In this research, it has been determined that using a state machine eliminates some errors that can be generated when changing from one state to another. In the same way, an essential aspect of a classifier is segmentation; the greater the segmentation, the lower the error in the classifier.",

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Fajardo Montaleza, BE, Siguencia, JIC, Sacoto, MAR & de Córdova-Arteaga, MEF 2024, Development of a Control System for a Biomechanical Prosthetic. in JP Salgado-Guerrero, HR Vega-Carrillo, G García-Fernández & V Robles-Bykbaev (eds), Systems, Smart Technologies and Innovation for Society - Proceedings of CITIS 2023. Lecture Notes in Networks and Systems, vol. 870 LNNS, Springer Science and Business Media Deutschland GmbH, pp. 98-117, 8th International Conference on Science, Technology and Innovation for Society, CITIS 2023, Guayaquil, Ecuador, 26/07/23. https://doi.org/10.1007/978-3-031-51982-6_10

Development of a Control System for a Biomechanical Prosthetic. / Fajardo Montaleza, Bryam Estuardo; Siguencia, John Ignacio Calle; Sacoto, Mónica Alexandra Romero et al.
Systems, Smart Technologies and Innovation for Society - Proceedings of CITIS 2023. ed. / Juan Pablo Salgado-Guerrero; Hector Rene Vega-Carrillo; Gonzalo García-Fernández; Vladimir Robles-Bykbaev. Springer Science and Business Media Deutschland GmbH, 2024. p. 98-117 (Lecture Notes in Networks and Systems; Vol. 870 LNNS).

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

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N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

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AB - This work details the development of a control system for the MAKI biomechanical hand prosthetic, developed by the Biomedical Engineering Research Group (GIIB). For the control of the prosthetic, the use of hierarchical control, consisting of 3 levels: high, medium, and low-level control is proposed. In the high-level control, a neural network is developed to classify movements, with the Electromyography (EMG) signals as input and the movement required by the user as output. In the medium-level control, a finite state machine is developed which is in charge of guaranteeing the coherence of the movements and eliminating possible errors that the neural network may have; finally, as a low-level control, positioning control is implemented in this way, guaranteeing that the prosthetic can perform the established movements. In this research, it has been determined that using a state machine eliminates some errors that can be generated when changing from one state to another. In the same way, an essential aspect of a classifier is segmentation; the greater the segmentation, the lower the error in the classifier.

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Fajardo Montaleza BE, Siguencia JIC, Sacoto MAR, de Córdova-Arteaga MEF. Development of a Control System for a Biomechanical Prosthetic. In Salgado-Guerrero JP, Vega-Carrillo HR, García-Fernández G, Robles-Bykbaev V, editors, Systems, Smart Technologies and Innovation for Society - Proceedings of CITIS 2023. Springer Science and Business Media Deutschland GmbH. 2024. p. 98-117. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-031-51982-6_10

Development of a Control System for a Biomechanical Prosthetic

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Keywords

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