A simple control method to avoid overshoot for prosthetic hand control

If grasping force of prosthetic hand is higher than the desired, the grasping object may produce undesired deformation or crash. In order to reduce the phenomenon, a simple control method is proposed to prevent overshoot of grasping force. Based on impedance control, a dynamic interaction force between a tendon-driven prosthetic hand and environment is modeled. A PID controller can be simple designed by using pole placement. The closed loop control system of prosthetic hand can be simplified as a first order damp system, which means that the control system is no overshoot. The simulation results are presented to demonstrate effectiveness of the proposed method.