Whole-Body Safety-Critical Control Design of an Upper Limb Prosthesis for Vision-Based Manipulation and Grasping
Date
2025
Authors
Li, Z.
Huang, J.
Zhang, P.
Shi, P.
Editors
Advisors
Journal Title
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Type:
Journal article
Citation
IEEE Transactions on Automation Science and Engineering, 2025; 22:534-545
Statement of Responsibility
Zhijun Li, Jin Huang, Peihao Zhang, and Peng Shi
Conference Name
Abstract
In this paper, an upper limb prosthesis has been furnished with a novel vision-based manipulation and grasping strategy. The proposed whole-body safety-critical control design includes vision servoing, multiple tasks planning with strict priorities, which can be formulated as an hierarchical multi-task optimization (HMO) problem with safety conditions—expressed as control barrier functions (CBF). Firstly, a modified YOLOv7 algorithm with key points detection is developed to determine the grasping pattern of the object and extract its edge contour information using a depth camera. An HMO-based strategy with a notion of CBF, providing inequality constraints in the control input, is proposed to handle multiple prioritized tasks with various constraints to offer guarantees of safety with the whole-body motion in consideration. Then the HMO problem is solved by a neuro-dynamics optimization solution online. Finally, experiments are implemented by using a self-developed upper limb prosthesis. Experimental results validate the performance of the proposed whole-body control strategy.
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Date of Publication: 04 July 2024
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