Control of a multifunction Arm Prosthesis Model

Abstract

In this thesis a working control system for a 7 degrees of freedom hand prosthesis model controlled by electromyographic and accelerometer signals has been developed.The complete system consists of a wireless EMG and accelerometer measurement system, two National Instruments data acquisition modules, a desktop computer, a Lego Mindstorms NXT brick and a hand model with 7 motorized degrees of freedom.The controller is based on pattern recognition and signal classification.Several different EMG features for this purpose are presented and implemented.Two different linear classifiers were used and their performance studied.The LabVIEW software platform was used for both the computer and the NXT.The developed software has a modular design, facilitating future development and extension.Its design and implementation are presented and discussed.