An adaptive control strategy for a five-fingered prosthetic hand

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

In this paper, an adaptive control strategy is developed for the 14 degrees of freedom (DOFs), fivefingered smart prosthetic hand with unknown mass and inertia of all the fingers. In particular, the forward and inverse kinematics of the system regarding the analytical relationship between the angular positions of joints and the positions and orientations of the end-effectors (fingertips) have been obtained using a desired orientation for three-link fingers. The simulations of the resulting adaptive controller with five-fingered prosthetic hand show enhanced performance.

Original languageEnglish (US)
Title of host publicationLatest Trends on Systems International Conference on Systems - 14th WSEAS International Conference on Systems, Part of the 14th WSEAS CSCC Multiconference
Pages405-410
Number of pages6
StatePublished - 2010
Externally publishedYes
Event14th WSEAS International Conference on Systems, Part of the 14th WSEAS CSCC Multiconference - Corfu Island, Greece
Duration: Jul 22 2010Jul 24 2010

Publication series

NameInternational Conference on Systems - Proceedings
Volume1

Conference

Conference14th WSEAS International Conference on Systems, Part of the 14th WSEAS CSCC Multiconference
CountryGreece
CityCorfu Island
Period7/22/107/24/10

Bibliographical note

Copyright:
Copyright 2011 Elsevier B.V., All rights reserved.

Keywords

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

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