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 language | English (US) |
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| Title of host publication | Latest Trends on Systems International Conference on Systems - 14th WSEAS International Conference on Systems, Part of the 14th WSEAS CSCC Multiconference |
| Pages | 405-410 |
| Number of pages | 6 |
| State | Published - 2010 |
| Externally published | Yes |
| Event | 14th WSEAS International Conference on Systems, Part of the 14th WSEAS CSCC Multiconference - Corfu Island, Greece Duration: Jul 22 2010 → Jul 24 2010 |
Publication series
| Name | International Conference on Systems - Proceedings |
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| Volume | 1 |
Conference
| Conference | 14th WSEAS International Conference on Systems, Part of the 14th WSEAS CSCC Multiconference |
|---|---|
| Country/Territory | Greece |
| City | Corfu Island |
| Period | 7/22/10 → 7/24/10 |
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