A Simulation environment for control algorithms of transhumeral prostheses

Abstract

Transhumeral prosthesis is used to cater upper limb amputees who lost their limb above elbow. In order to restore the functionality of upper limb, researchers are working on developing prosthesis and their controllers. This paper presents a simulation environment which can be used to simulate control algorithms of transhumeral prostheses. It consists of a virtual model of a prosthesis and lost degrees of freedom are modelled as joints in the simulator which can be accessed inside the simulator. Furthermore the shoulder joint is actuated through an inertia measurement unit. Simulations were carried out to verify the effectiveness of the simulator.