Homeokinetic prosthetic control: collaborative selection of myosignal features

F. Hesse, J. M. Herrmann

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We present an approach to the control of myoelectric prostheses that is based on a collaborative interaction of a prosthesis and the patient. During training, the patient is instructed to generate control signals that follow the observed autonomous movements of the prosthesis. At the same time, the prosthetic controller maximizes both the diversity of movements and the coincidences of prosthetic movements and human control signals by varying the features and control actions. This dual control principle which is derived from the homeokinetic robot control is demonstrated to be efficient for the control of a hand prostheses with two degrees of freedom.
Original languageEnglish
Title of host publicationRO-MAN, 2010 IEEE
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)978-1-4244-7991-7
Publication statusPublished - 1 Sep 2010


  • prosthetics
  • robots
  • collaborative selection
  • degrees of freedom
  • dual control principle
  • hand prostheses
  • homeokinetic prosthetic control
  • homeokinetic robot control
  • human control signals
  • myoelectric prostheses
  • myosignal features
  • prosthetic movements
  • Adaptation model
  • Electrodes
  • Muscles
  • Prosthetics
  • Robot sensing systems
  • Training


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