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
Authors
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Chen, Cheng-Hung
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Naidu, D. Subbaram
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Perez Gracia, Alba
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Schoen, Marco P.
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.
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