Sliding mode impedance control of a underactuated prosthetic hand

Author

Huanxin Luo ; Xiaogang Duan ; Hua Deng

Author_Institution

Sch. of Mech. & Electr. Eng., Central South Univ., Changsha, China

fYear

2014

fDate

28-30 July 2014

Firstpage

726

Lastpage

729

Abstract

The performance of grasping objects is affected by the uncertainties in both the dynamic model of prosthetic hand and environment stiffness. A sliding mode impedance strategy is proposed to control underactuated prosthetic hand. Firstly, a dynamics model of the underactuated prosthetic hand is obtained by using LaGrange method. Then, a control strategy is designed by combining a sliding mode and impedance controllers. Finally, the underactuated prosthetic hand with the proposed control strategy is simulated by the adaptive grasping. The simulation results show the sliding mode impedance control method is effective.

Keywords

control system synthesis; prosthetics; variable structure systems; LaGrange method; adaptive object grasping performance; control strategy design; environment stiffness uncertainties; sliding mode impedance control method; underactuated prosthetic hand dynamic model uncertainties; Force; Grasping; Impedance; Prosthetic hand; Thumb; impedance control; sliding mode control; underactuated prosthetic hand;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2014 IEEE International Conference on

Conference_Location

Hailar

Type

conf

DOI

10.1109/ICInfA.2014.6932747

Filename

6932747