Homeokinetic Proportional Control of Myoelectric Prostheses

Self-organized control of myoelectric prostheses aims at an automatic selection of communication channels between a prosthetic device and its user. 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 sensory features and control actions. This dual control algorithm is derived from the homeokinetic principle for robot control and is tested in a proportional control task for a hand prostheses.