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Figure 4 | Journal of NeuroEngineering and Rehabilitation

Figure 4

From: The SmartHand transradial prosthesis

Figure 4

The four axis control architecture based on microcontrollers. Straight lines are logic lines; dotted lines are analog lines; dot-dot-dash lines are power supply lines. The high-level hand controller (HLHC) is directly connected to the external world both with a RS232 and SPI bus. The HLHC deals with the low-level motor controllers via an additional SPI bus. The LLMCs are directly connected to H bridge drivers (H) delivering current to the DC motors using pulse width modulation (PWM) technique.

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