Research Article
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) |
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