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Título: | A hybrid adaptive control strategy for a smart prosthetic hand |
Autor: | Chen, Hung; Naidu, D. Subbaram; Perez-Gracia, Alba CSIC; Schoen, Marco P. | Palabras clave: | Robots Medical robotics Robotics in medicine |
Fecha de publicación: | 2009 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | IEEE Annual International Conference of the Engineering in Medicine and Biology Society: 5056-5059 (2009) | Resumen: | 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. | Descripción: | Trabajo presentado al EMBC 2009 celebrado en Minneapolis (EE.UU.) del 3 al 6 de septiembre. | Versión del editor: | http://dx.doi.org/10.1109/IEMBS.2009.5334260 | URI: | http://hdl.handle.net/10261/30141 | DOI: | 10.1109/IEMBS.2009.5334260 | ISBN: | 978-1-4244-3296-7 |
Aparece en las colecciones: | (IRII) Libros y partes de libros |
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hybrid adaptive control.pdf | 878,59 kB | Adobe PDF | Visualizar/Abrir |
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