  On the base of the developed master-slave prosthetic hand-arm robot system,
which is controlled mainly based on signals obtained from bending sensors fixed
on the data glove, the first idea deduced was to develop and add a
multi-dimensional filter into the original control system to make the control
signals cleaner and more stable at real time. By going further, a second new
idea was also proposed to predict new control information based on the
combination of a new algorithm and prediction control theory. In order to
fulfill the first idea properly, the possible methods to process data in real
time, the different ways to produce Gaussian distributed random data, the way
to combine the new algorithm with the previous complex program project, and the
way to simplify and reduce the running time of the algorithm to maintain the
high efficiency, the real time processing with multiple channels of the sensory
system and the real-time performance of the control system were researched.
Eventually, the experiment on the same provided robot system gives the results
of the first idea and shows the improved performance of the filter comparing
with the original control method.
