The flexibility and dexterity of human limbs rely on the processing of a vast quantity of signals within the sensory-motor networks in the brain and spinal cord, distilled into stimuli that govern the commands and movements. Hence, the use of assistive devices, such as robotic limbs or exoskeletons, is critically dependent on the processing of a large number of heterogeneous signals to mimic natural movements. This article provides a panoramic overview of the three paradigms for the control of bionic limbs based on mechatronic technology. Two of them have already been established in the literature, while the third one, advocated by this article, is an emerging approach, enabled by the latest developments in connectivity and computation. In the first paradigm, the bionic limbs rely on conventional control and are directly reconnected to the human sensory-motor system, which requires a large signal processing bandwidth. The second paradigm is based on semiautonomous limbs, endowed with context-aware processing and certain decision capability. Following the advances in wireless connectivity and cloud/edge processing, this article introduces a third paradigm of connected limbs.

中文翻译：

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仿生肢体的未来：信号处理、控制和无线连接之间尚未开发的协同作用


人类肢体的灵活性和灵巧性依赖于大脑和脊髓的感觉运动网络内对大量信号的处理，这些信号被提炼成控制命令和运动的刺激。因此，辅助设备的使用，如机器人肢体或外骨骼，在很大程度上取决于处理大量异质信号以模拟自然运动。本文概述了基于机电一体化技术控制仿生肢体的三种范式。其中两个已经在文献中建立，而本文倡导的第三个是新兴的方法，由连接和计算的最新发展实现。在第一种范式中，仿生肢体依赖于常规控制，并直接重新连接到人类感觉运动系统，这需要较大的信号处理带宽。第二种范式基于半自主的肢体，被赋予了上下文感知处理和一定的决策能力。随着无线连接和云/边缘处理的进步，本文介绍了连接肢体的第三种范式。