Chapter 20 - Design principles of a light, wearable upper limb interface for prosthetics and teleoperation

Abstract

In this chapter we propose and discuss a few guidelines for the design, implementation, and testing of a lightweight, wearable human-machine interface aimed at control of upper limbs -- be they tele-operated robotic arms or prosthetic devices. While reviewing the state of the art in the field we highlight the current pitfalls, then suggest how to overcome them: what sensors to use, how to safely and effectively attach them to a human body, and how to design, monitor, and exploit a fruitful man-machine interaction. The result is a collection of requirements for, and ways to build, a device which can be worn in everyday living, and whose computation can happen on a smartphone, which would enable both intact and amputated persons to control a robotic arm/hand system.