Transhumeral prosthesis prototype with 3D printing and sEMG-based elbow joint control method

In this study, we have designed a transhumeral prosthesis and built its prototype with 3D printing. It is characterized as a 4-DOF robotic arm like a human lower arm. In addition, we have devised an elbow joint control method for the prosthesis. The elbow joint is driven based on surface electromyogram (sEMG) signals from user's two upper arm muscles, biceps and triceps. The control method generates a rotation speed command for servomotors installed on the elbow joint based on feature values extracted from the sEMG signals. The prosthesis prototype with the control method worked under controlled conditions, but it requires further improvement for practical use.