Upper Limb Prosthetic Control

This report documents the progress during the past two semesters of the Masters programme. The research area explored is on Upper limb prosthetic control. It summarizes the literature review and work performed towards two potential research directions. First; A coordinated joint control for upper limb prosthetics is presented. This includes a background of the particular field and preliminary work carried out for realizing a head movement controlled joint coordination strategy. The work is expected to continue to instrumentation testing and verification on a anthropomorphic robot arm. Second research direction is on EMG based continuous joint quantification. Preliminary study on Joint Task classification experiments performed, is reported. This will be developed in to realizing joint quantification for powered elbows. It is expected to narrow down these research directions, in to identifying a potential topic towards the thesis. KEY INDEXING TERMS: Upper extremity prosthetics, Myoelectric control. Pattern Recognition, Linear Discriminant Analysis, System Identification, Inverse Kinematics, Kalman filter