DocumentCode
2507360
Title
Model-based feedforward derivative compensation for prosthetic hands
Author
Engeberg, Erik D. ; Meek, Sanford G.
Author_Institution
Dept. of Mech. Eng., Univ. of Akron, Akron, OH
fYear
2008
fDate
19-22 Oct. 2008
Firstpage
61
Lastpage
65
Abstract
Two methods of prosthetic hand control are investigated. A typical proportional force control scheme is compared to a force controller with a feedforward inertia stopping derivative term. Eleven human operators use these two controllers with an antagonist electromyogram input. The experimental feedforward force controller is found to help prevent unwanted force overshoot when initially grasping objects.
Keywords
electromyography; feedforward; force control; prosthetics; antagonist electromyogram input; feedforward derivative compensation; feedforward force controller comparison; feedforward inertia stopping derivative term; grasping; prosthetic hand control; Electromyography; Force control; Force feedback; Force sensors; Grasping; Humans; Motion control; Proportional control; Prosthetic hand; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS & EMBS International Conference on
Conference_Location
Scottsdale, AZ
Print_ISBN
978-1-4244-2882-3
Electronic_ISBN
978-1-4244-2883-0
Type
conf
DOI
10.1109/BIOROB.2008.4762855
Filename
4762855
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