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Title

A hybrid adaptive control strategy for a smart prosthetic hand

AuthorsChen, Hung; Naidu, D. Subbaram; Perez-Gracia, Alba ; Schoen, Marco P.
KeywordsRobots
Medical robotics
Robotics in medicine
Issue Date2009
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE Annual International Conference of the Engineering in Medicine and Biology Society: 5056-5059 (2009)
AbstractThis 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.
DescriptionTrabajo presentado al EMBC 2009 celebrado en Minneapolis (EE.UU.) del 3 al 6 de septiembre.
Publisher version (URL)http://dx.doi.org/10.1109/IEMBS.2009.5334260
URIhttp://hdl.handle.net/10261/30141
DOI10.1109/IEMBS.2009.5334260
ISBN978-1-4244-3296-7
Appears in Collections:(IRII) Libros y partes de libros
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