A hybrid adaptive control strategy for a smart prosthetic hand

Author

Chen, Cheng-Hung ; Naidu, D. Subbaram ; Perez-Gracia, Alba ; Schoen, Marco P.

Author_Institution

Dept. of Biol. Sci., Idaho State Univ., Pocatello, ID, USA

fYear

2009

fDate

3-6 Sept. 2009

Firstpage

5056

Lastpage

5059

Abstract

This paper presents a hybrid of a soft computing technique of adaptive neuro-fuzzy inference system (ANFIS) and a hard computing technique of adaptive control for a two-dimensional movement of a prosthetic hand with a thumb and index finger. In particular, ANFIS is used for inverse kinematics, and the adaptive control is used for linearized dynamics to minimize tracking error. The simulations of this hybrid controller, when compared with the proportional-integral-derivative (PID) controller showed enhanced performance. Work is in progress to extend this methodology to a five-fingered, three-dimensional prosthetic hand.

Keywords

adaptive control; artificial limbs; biomechanics; fuzzy control; fuzzy neural nets; inference mechanisms; kinematics; medical control systems; neurocontrollers; ANFIS; adaptive neuro-fuzzy inference system; five-fingered three-dimensional prosthetic hand; hand movement; hard computing technique; hybrid adaptive control strategy; inverse kinematics; linearized dynamics; smart prosthetic hand; soft computing technique; tracking error minimization; two-dimensional movement; Adaptive Control; Adaptive Neuro-Fuzzy Inference System; Genetic Algorithm; Hybrid Control; PID Control; Prosthetic Hand; Artificial Limbs; Biomechanics; Hand; Humans;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE

Conference_Location

Minneapolis, MN

ISSN

1557-170X

Print_ISBN

978-1-4244-3296-7

Electronic_ISBN

1557-170X

Type

conf

DOI

10.1109/IEMBS.2009.5334260

Filename

5334260