Simultaneous proportional control of multiple functions in upper-limb prosthesis

The purpose of this work is to review simple classification schemes of the past and generalise these to allow simultaneous, proportional control of multiple prosthesis joints. In mathematical terms this involves the definition of a continuous mapping f from a vector v(t) of EMG parameters to a vector θ(t) of prosthesis states to be controlled, e.g. torque, velocity or position setpoints. In more common terms, we want to predict the states of the (phantom) limb based on measured EMG signals, so that the prosthesis can be made to behave accordingly. The rationale is the hypothesis that the user will more easily adapt to a simple and smooth control function, thus achieving improved utilization of the prosthesis.