DocumentCode
3186809
Title
Grasped object stiffness detection for adaptive PID sliding mode position control of a prosthetic hand
Author
Andrecioli, Ricardo ; Engeberg, Erik D.
Author_Institution
Mech. Eng. Dept., Univ. of Akron, Akron, OH, USA
fYear
2012
fDate
24-27 June 2012
Firstpage
526
Lastpage
531
Abstract
A PID sliding mode position controller and an adaptive sliding mode controller are presented for a prosthetic hand. The adaptive controller modulates the PID gains based on the detected stiffness of the grasped object. The results from benchtop experiments indicate statistically significant improvements such as improved tracking error and reduced steady state error in the system response when using the adaptive controller.
Keywords
adaptive control; position control; prosthetics; statistical analysis; three-term control; variable structure systems; adaptive PID sliding mode position control; adaptive controller; grasped object stiffness detection; prosthetic hand; statistically significant improvements; steady state error; stiffness detection; Gain measurement; Grasping; Position control; Prosthetic hand; Springs; Standards; Steady-state;
fLanguage
English
Publisher
ieee
Conference_Titel
Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on
Conference_Location
Rome
ISSN
2155-1774
Print_ISBN
978-1-4577-1199-2
Type
conf
DOI
10.1109/BioRob.2012.6290752
Filename
6290752
Link To Document