A CAN-based distributed control system for upper limb myoelectric prosthesis

The paper presents the definition of a prosthetic protocol, specifing an application profile based on CAN bus standard. Aim of this definition is to realize an upper limb prosthesis control oriented bus, which grant an efficient sensors and actuators management, with the possibility both of centralized and distributed control, through the transmission and reception of high level commands and data. The enlarge possibility and reconfigurability of the system will be necessary aspects on following discussion.