Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/30141
Share/Export:
logo share SHARE BASE
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE
Title

A hybrid adaptive control strategy for a smart prosthetic hand

AuthorsChen, Hung; Naidu, D. Subbaram; Perez-Gracia, Alba CSIC; 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

Files in This Item:
File Description SizeFormat
hybrid adaptive control.pdf878,59 kBAdobe PDFThumbnail
View/Open
Show full item record
Review this work

Page view(s)

320
checked on May 17, 2022

Download(s)

232
checked on May 17, 2022

Google ScholarTM

Check

Altmetric

Dimensions


WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.