Publication

A hybrid adaptive control strategy for a smart prosthetic hand

Conference Article

Conference

Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

Edition

31st

Pages

5056-5059

Doc link

http://dx.doi.org/10.1109/IEMBS.2009.5334260

File

Download the digital copy of the doc pdf document

Authors

Abstract

This paper presents a hybrid of a soft computing technique of adaptive neuro-fuzzy inference system (ANFIS) and a hard computing technique of adaptive control for a two- dimensional movement of a prosthetic hand with a thumb and index finger. In particular, ANFIS is used for inverse kinematics, and the adaptive control is used for linearized dynamics to minimize tracking error. The simulations of this hybrid controller, when compared with the proportional-integral-derivative (PID) controller showed enhanced performance. Work is in progress to extend this methodology to a five-fingered, three-dimensional

prosthetic hand.

Categories

medical robotics.

Scientific reference

C. Chen, D.S. Naidu, A. Perez and M.P. Schoen. A hybrid adaptive control strategy for a smart prosthetic hand, 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2009, Minneapolis (USA), pp. 5056-5059, IEEE.