A hybrid adaptive control strategy for a smart prosthetic hand.
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.
Chen
Cheng-Hung
CH
Measurement and Control Engineering Research Center, Department of Biological Sciences, Idaho State University, ID 83209, USA. chenchen@isu.edu
Naidu
D Subbaram
DS
Perez-Gracia
Alba
A
Schoen
Marco P
MP
D001186:Artificial Limbs; D001696:Biomechanical Phenomena; D006225:Hand / Q000503:physiopathology*; D006801:Humans