A Biomechatronic EPP upper-limb prosthesis teleoperation system implementation using Bluetooth Low Energy.

In this paper a real time, stand-alone wireless Biomechatronic Extended Physiological Proprioception (EPP) teleoperation system was implemented using two Bluetooth Low Energy (BLE) wireless Systems on Chip (SoCs). This system is designed to achieve kinesthetic coupling between the amputee and prosthetic arm without the use of the classic EPP mechanical linkage, but with the use of a wireless implementation of a Master/Slave teleoperation topology. The experimental real-time implementation achieved a high level of transparency with minuscule time delays.