TY - GEN
T1 - sEMG based fuzzy control strategy with ANFIS path planning for prosthetic hand
AU - Potluri, Chandrasekhar
AU - Kumar, Parmod
AU - Anugolu, Madhavi
AU - Chiu, Steve
AU - Urfer, Alex
AU - Schoen, Marco P.
AU - Naidu, D. Subbaram
PY - 2010
Y1 - 2010
N2 - This paper presents an intelligent adaptive neurofuzzy inference system (ANFIS) based fuzzy Mamdani controller for a multifingered prosthetic hand. The objective of the controller is to move the finger joint angles along pre-determined paths representing a grasping motion. The initiation of the grasping task is evaluated via EMG-entropy data, measured at the forearm of the prosthetic user. In addition to the motion control, the finger force is regulated with a Fuzzy logic controller. Simulation results indicate good performance of the proposed controller. Results show that the outputs follow the hand/finger force and given reference trajectory closely.
AB - This paper presents an intelligent adaptive neurofuzzy inference system (ANFIS) based fuzzy Mamdani controller for a multifingered prosthetic hand. The objective of the controller is to move the finger joint angles along pre-determined paths representing a grasping motion. The initiation of the grasping task is evaluated via EMG-entropy data, measured at the forearm of the prosthetic user. In addition to the motion control, the finger force is regulated with a Fuzzy logic controller. Simulation results indicate good performance of the proposed controller. Results show that the outputs follow the hand/finger force and given reference trajectory closely.
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U2 - 10.1109/BIOROB.2010.5627782
DO - 10.1109/BIOROB.2010.5627782
M3 - Conference contribution
AN - SCOPUS:78650394411
SN - 9781424477081
T3 - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
SP - 413
EP - 418
BT - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
T2 - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Y2 - 26 September 2010 through 29 September 2010
ER -