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

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución de conferencia › revisión exhaustiva

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	Proceedings of the Future Technologies Conference, FTC 2025, Volume 4
Editores	Kohei Arai
Editorial	Springer Science and Business Media Deutschland GmbH
Páginas	466-475
Número de páginas	10
ISBN (versión impresa)	9783032079916
DOI	https://doi.org/10.1007/978-3-032-07992-3_31
Estado	Publicada - 2026
Evento	Future Technologies Conference, FTC 2025 - Munich, Alemania Duración: 6 nov. 2025 → 7 nov. 2025

Serie de la publicación

Nombre	Lecture Notes in Networks and Systems
Volumen	1678 LNNS
ISSN (versión impresa)	2367-3370
ISSN (versión digital)	2367-3389

Conferencia

Conferencia	Future Technologies Conference, FTC 2025
País/Territorio	Alemania
Ciudad	Munich
Período	6/11/25 → 7/11/25

Nota bibliográfica

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

Acceder al documento

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

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Enlace a la publicación en Scopus

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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. En 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,

title = "CAN-Based Communication Interface for Industrial Servomotor Control in a Biomimetic Transhumeral Prosthesis",

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.\}",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.; Future Technologies Conference, FTC 2025 ; Conference date: 06-11-2025 Through 07-11-2025",

year = "2026",

doi = "10.1007/978-3-032-07992-3\_31",

language = "English",

isbn = "9783032079916",

series = "Lecture Notes in Networks and Systems",

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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. En 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, Alemania, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución de conferencia › revisión exhaustiva

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T1 - CAN-Based Communication Interface for Industrial Servomotor Control in a Biomimetic Transhumeral Prosthesis

AU - Ortega-Cabrera, Cisne

AU - Baez-Sanchez, Dennys J.

AU - Guerrero-Vásquez, Luis F.

AU - Serpa-Andrade, Luis J.

AU - Ordoñez-Ordoñez, Jorge O.

AU - Chacón-Reino, Nathalia A.

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.

PY - 2026

Y1 - 2026

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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KW - CAN protocol

KW - Embedded systems

KW - Industrial servomotors

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T3 - Lecture Notes in Networks and Systems

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BT - Proceedings of the Future Technologies Conference, FTC 2025, Volume 4

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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. En 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