The mathematics of coordinated control of prosthetic arms and manipulators

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 94, Issue 4, 1972, Pages 303-309

  Whitney, D E ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

KINEMATICS; MATHEMATICAL MODELS; PROSTHETICS;

MATERIALS HANDLING;

EID: 0015475961     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.3426611     Document Type: Article

References (21)

1. Whitney, D. E., “liesolved Motion Rate Control of Manipulators and Human Prostheses,” IEEE Trans, on Man-Machine Systems, Vol. MMS-10, No. 2, June 1969, pp. 47-53.
2. Lesser, E., and Turai, T., “Demonstration of Resolved Motion Rate Control,” SM thesis, MIT Mech. Ena;. Dept, June 1970.
3. Lesser, E., and Turai, T., “First Annual Report for the Development, of Multi-Moded Remote Manipulator System,” C. S. Draper Laboratory (Division of MIT) Report C-3790.
4. Johnson, E. G., and Corliss, W. R., “Teleoperators and Human Augmentation,” NASA SP-5047.
5. Moe, M. L., and Schwartz, J. T., “A Coordinated, Proportional Motion Controller for an Upper-Extremity Orthotic Device,” in Proceedings of 3rd International Symposium on External Control of Human Extremities, Dubrovnic, Aug. 1969.
6. Greeb, F. J., “Equations of Motion for Control of an Upper Extremity Splint Structure,” MS thesis, Univ. of Denver, May 1970.
7. Apple, H. P., and Lawrence, P. D., “A Seven Degree of Freedom Digital Incremental Electric Orthotie Arm,” presented at the 8th Annual International Conference on Medical and Biological Engineering, Chicago, July 1969.
8. Gavrilovic, M. M., and Marie, M. R., “An Approach to the Organization of the Artificial Arm Control,” in Proceedings of 3rd International Symposium on External Control of Human Extremities, Dubrovnic, Aug. 1969.
9. Wirta, R. W., and Taylor, D. R., “Multiple-Axis Myo-electrieally Controlled Prosthetic Arm,” Final Report, Krusen Center, Moss Rehabilitation Hospital, Philadelphia, Sept. 1970.
10. Simpson, D. C., “An Experimental Design for a Powered Arm Prosthesis,” Health Bulletin, Vol. 23, No. 4, Sept. 1965, pp. 75-78.
11. Denavit, J., and Hartenberg, R. S., “A Kinematic Notation for Lower Pair Mechanisms Based on Matrices,” Journal of Applied Mechanics, Vol. 22, Trans. ASME, Vol. 77, June 1955, pp. 215-221.
12. Whitney, D. E., “Optimum Stepsize Control for New to n-Raphson Solution of Nonlinear Vector Equations,” IEEE Transactions on Automation Control, Vol. AC-14, No. 5, Oct. 1969, pp. 572-74.
13. Pieper, I. L., and Roth, B., “The Kinematics of Manipulators Under Computer Control,” Proceedings 2nd International Conference on the Theory of Machines and Mechanisms, Warsaw, Sept. 1969.
14. Kahn, M. E., and Roth, B., “The Near Minimum-Time Control of Open-Loop Articulated Kinematic Chains,” Journal of Dynamic Systems, Measurement, and Control, Trans. ASME, Series G, Vol. 93, No. 3, Sept. 1971, pp. 164-72.
15. Monster, A. W., “On Some Control Problems in the Case Research Arm-Aid, MK-II,” Engineering Design Center Report No. EDC 7-66-14, Case Western Reserve Univ., 1966.
16. Sturges, R. II., “Progress Report on Digital Simulation,” unpublished memo No. MAT-20, C. S. Draper Laboratory (Division of MIT), Aug. 1971. (A review of this material appears in reference [3].)
17. Lynch, P. M., “A Mathematical Model of Mechanical Manipulator Dynamics,” SM thesis, MIT Mech. Eng. Dept., June 1970
18. Townsend, A. L., “Linear Control Theory Applied to a Mechanical Manipulator,” SB thesis, MIT Mech. Eng. Dept., Jan. 1972.
19. Bryson, A. E., and Ho, Y. C., Applied Optimal Control, Blaisdell, 1969, Chapter 5.
20. Whitney, D. E., “Use of Resolved Rate to Generate Torque Histories for Arm Control,” unpublished memo no. MAT-54, C.S. Draper Laboratory (Div. of MIT), July 1972.
21. Lawrence, P. D., and Lin, W.-C., “Statistical Decision Making in the Real-Time Control of an Arm Aid for the Disabled,” Trans. IEEE Systems, Man and Cybernetics, Vol. SMC-2, No. 1, Jan. 1972, pp. 35-41.