Fusion of fuzzy logic and PD control for a five-fingered smart prosthetic hand

Cheng Hung Chen; D. Subbaram Naidu

doi:10.1109/FUZZY.2011.6007645

Fusion of fuzzy logic and PD control for a five-fingered smart prosthetic hand

Cheng Hung Chen
, D. Subbaram Naidu

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Scopus citations

Abstract

A hybrid of soft control technique of adaptive neuro-fuzzy inference system (ANFIS) and fuzzy logic (FL) and hard control technique of proportional- derivative (PD) for a five-fingered, smart prosthetic hand is presented. The ANFIS is used for inverse kinematics and FL is used for tuning the PD parameters with two input layers (error and error change) using 7 triangular membership functions and 49 fuzzy logic rules. Simulation results with FL-tuned PD controller exhibit superior performance compared to the PD and PID control alone.

Original language	English (US)
Title of host publication	FUZZ 2011 - 2011 IEEE International Conference on Fuzzy Systems - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2108-2115
Number of pages	8
ISBN (Print)	9781424473175
DOIs	https://doi.org/10.1109/FUZZY.2011.6007645
State	Published - 2011

Publication series

Name	IEEE International Conference on Fuzzy Systems
ISSN (Print)	1098-7584

Keywords

Adaptive Neuro-Fuzzy Inference System
Fuzzy Logic
Hybrid Control
PD Control
Prosthetic Hand

Publisher link

10.1109/FUZZY.2011.6007645

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Chen, C. H., & Naidu, D. S. (2011). Fusion of fuzzy logic and PD control for a five-fingered smart prosthetic hand. In FUZZ 2011 - 2011 IEEE International Conference on Fuzzy Systems - Proceedings (pp. 2108-2115). Article 6007645 (IEEE International Conference on Fuzzy Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/FUZZY.2011.6007645

Fusion of fuzzy logic and PD control for a five-fingered smart prosthetic hand. / Chen, Cheng Hung; Naidu, D. Subbaram.
FUZZ 2011 - 2011 IEEE International Conference on Fuzzy Systems - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2011. p. 2108-2115 6007645 (IEEE International Conference on Fuzzy Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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abstract = "A hybrid of soft control technique of adaptive neuro-fuzzy inference system (ANFIS) and fuzzy logic (FL) and hard control technique of proportional- derivative (PD) for a five-fingered, smart prosthetic hand is presented. The ANFIS is used for inverse kinematics and FL is used for tuning the PD parameters with two input layers (error and error change) using 7 triangular membership functions and 49 fuzzy logic rules. Simulation results with FL-tuned PD controller exhibit superior performance compared to the PD and PID control alone.",

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AB - A hybrid of soft control technique of adaptive neuro-fuzzy inference system (ANFIS) and fuzzy logic (FL) and hard control technique of proportional- derivative (PD) for a five-fingered, smart prosthetic hand is presented. The ANFIS is used for inverse kinematics and FL is used for tuning the PD parameters with two input layers (error and error change) using 7 triangular membership functions and 49 fuzzy logic rules. Simulation results with FL-tuned PD controller exhibit superior performance compared to the PD and PID control alone.

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Fusion of fuzzy logic and PD control for a five-fingered smart prosthetic hand

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