Whole-Body Safety-Critical Control Design of an Upper Limb Prosthesis for Vision-Based Manipulation and Grasping

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dc.contributor.authorLi, Z.
dc.contributor.authorHuang, J.
dc.contributor.authorZhang, P.
dc.contributor.authorShi, P.
dc.date.issued2025
dc.descriptionDate of Publication: 04 July 2024
dc.description.abstractIn 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.
dc.description.statementofresponsibilityZhijun Li, Jin Huang, Peihao Zhang, and Peng Shi
dc.identifier.citationIEEE Transactions on Automation Science and Engineering, 2025; 22:534-545
dc.identifier.doi10.1109/TASE.2024.3412823
dc.identifier.issn1545-5955
dc.identifier.issn1558-3783
dc.identifier.orcidShi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435]
dc.identifier.urihttps://hdl.handle.net/2440/143032
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers
dc.relation.granthttp://purl.org/au-research/grants/arc/DP240101140
dc.rights© 2024 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information.
dc.source.urihttp://dx.doi.org/10.1109/tase.2024.3412823
dc.subjectWhole-body control; upper limb prosthesis; task priority; neuro-dynamics optimization; vision-based coordination
dc.titleWhole-Body Safety-Critical Control Design of an Upper Limb Prosthesis for Vision-Based Manipulation and Grasping
dc.typeJournal article
pubs.publication-statusPublished

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