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This research presents the development of a communication interface based on Controller Area Network (CAN) protocol for industrial servomotors control in a biomimetic transhumeral prosthesis. The system employs an ESP32 microcontroller running FreeRTOS to coordinate two RMD X6 motors responsible for elbow and forearm movements. Architecture incorporates Wi-Fi connectivity, a multitasking software design, and an efficient power system using buck converters. Experimental results demonstrated high precision ( \(\pm 0.004^\circ \) ), data integrity (1:1 ratio), and thermal stability over 20 h of continuous operation. Findings validate CAN protocol use for real-time control in biomedical applications.

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CAN-Based Communication Interface for Industrial Servomotor Control in a Biomimetic Transhumeral Prosthesis

  • 会议论文

  • 发表日期：

    2026年

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  • Cisne Ortega-Cabrera,
  • Dennys J. Baez-Sanchez,
  • Luis F. Guerrero-Vásquez,
  • Luis J. Serpa-Andrade,
  • Jorge O. Ordoñez-Ordoñez,
  • Nathalia A. Chacón-Reino

摘要

This research presents the development of a communication interface based on Controller Area Network (CAN) protocol for industrial servomotors control in a biomimetic transhumeral prosthesis. The system employs an ESP32 microcontroller running FreeRTOS to coordinate two RMD X6 motors responsible for elbow and forearm movements. Architecture incorporates Wi-Fi connectivity, a multitasking software design, and an efficient power system using buck converters. Experimental results demonstrated high precision ( \(\pm 0.004^\circ \) ), data integrity (1:1 ratio), and thermal stability over 20 h of continuous operation. Findings validate CAN protocol use for real-time control in biomedical applications.