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
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;
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
DOI :
10.1109/BIOROB.2008.4762855
