This paper describes a portable, prosthetic control system and the first at-home use of a multi-degree-of-freedom, proportionally controlled bionic arm. The system uses a modified Kalman filter to provide 6 degree-of-freedom, real-time, proportional control. We describe (a) how the system trains motor control algorithms for use with an advanced bionic arm, and (b) the system's ability to record an unprecedented and comprehensive dataset of EMG, hand positions and force sensor values. Intact participants and a transradial amputee used the system to perform activities-of-daily-living, including bi-manual tasks, in the lab and at home. This technology enables at-home dexterous bionic arm use, and provides a high-temporal resolution description of daily use-essential information to determine clinical relevance and improve future research for advanced bionic arms.

14This paper describes a portable, prosthetic control system for at-home use of an advanced bionic arm. 15The system uses a modified Kalman filter to provide 6 degree-of-freedom, real-time, proportional 16 control. We describe (a) how the system trains motor control algorithms for use with an advanced 17 bionic arm, and (b) the system's ability to record an unprecedented and comprehensive dataset of 18 EMG, hand positions and force sensor values. Intact participants and a transradial amputee used the 19 system to perform activities-of-daily-living, including bi-manual tasks, in the lab and at home. This 20 technology enables at-home dexterous bionic arm use, and provides a high-temporal resolution 21 description of daily use-essential information to determine clinical relevance and improve future 22 research for advanced bionic arms. 23 24