INFORMATION AND CONTROL ANALYSIS OF EXTERNALLY POWERED ARTIFICIAL ARM SYSTEMS.
CALIFORNIA UNIV LOS ANGELES BIOTECHNOLOGY LAB
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The paper examines the problem of an adequate control system for an artificial arm based on a systems approach to the problem. A general model of the control loop is defined. Some representative past control systems are briefly examined and evaluated. From the standpoint of control theory the movement pattern of the normal human arm is defined mathematically. Also the human operator is examined in terms of the ability to prnformation which could reproduce normal arm movement patterns. Taking as system performance criteria the information limitations of the human and the trajectories of the human arm, a series of possible control systems is examined theoretically. It is concluded that of the systems examined, an optimal switching or bang-bang control system meets the adopted criteria best. A suggestion is made for reducing operator information requirements further by adding a non-deterministic predictive subsystem to the control system. Author
- Medicine and Medical Research
- Medical Facilities, Equipment and Supplies