Motion Intention Analysis-Based Coordinated Control for Amputee-Prosthesis Interaction

Table 1

Comparison between dual-arm and dual-leg coordination.

Items	Dual-arm coordination	Dual-leg coordination
System task	Grasping and holding object to track the target trajectory	Supporting and moving the HAT of biped robot to realize stable walking
Methods	Planning, control, and compensation of coordinated motion
Controlled object	Homogeneous arms	Heterogeneous legs
Target object	Grasped and held object	The HAT (Head, Arms, and Torso)
Base	Fixed	Mobile
Control complexity	Relative simple	Complicated
Interface	Multiple fingers	Hip joints
Target trajectory	Task trajectory of grasped and held object	Gait trajectory for the center of HAT or the center of crotch
Mechanism	Closed chain all the time	Closed chain in stance phase
		Open chain in swing phase
Constrains	Kinematics and dynamics	Dynamic constrains for open chain and both for closed chain
Motion pattern	Different for two arms	Similar for two legs (phase-difference)