Adaptive control for a five-fingered prosthetic hand with unknown mass and inertia

Cheng Hung Chen, D. Subbaram Naidu, Marco P. Schoen

Research output: Contribution to journalArticlepeer-review

6 Scopus citations

Abstract

An adaptive control strategy for the 14 degrees of freedom (DOFs), five-fingered smart prosthetic hand with unknown mass and inertia of all the fingers is developed in this work. In modeling, the various links used for the five fingers of the prosthetic hand are shown. A cubic polynomial for the trajectory planning is used. In particular, using a desired orientation for three-link fingers, the forward and inverse kinematics of the prosthetic hand system regarding the analytical solutions between the angular positions of joints and the positions and orientations of the end-effectors (fingertips) have been obtained. The simulations of the resulting adaptive controller with five-fingered prosthetic hand show enhanced performance.

Original languageEnglish (US)
Pages (from-to)148-161
Number of pages14
JournalWSEAS Transactions on Systems
Volume10
Issue number5
StatePublished - May 1 2011

Keywords

  • Adaptive control
  • Feedback linearization
  • Five finger hand
  • Hard control
  • Prosthetic hand
  • Trajectory planning

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