Hybrid control strategy for five-fingered 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

15-18 Dec. 2009

Firstpage

5102

Lastpage

5107

Abstract

This paper presents a hybrid of soft computing or control technique of adaptive neuro-fuzzy inference system (ANFIS) and hard computing or control technique of finite-time linear quadratic optimal control for the 14 degrees of freedom (DOFs), five-fingered smart prosthetic hand. In particular, ANFIS is used for inverse kinematics, and the optimal control is used for feedback linearized dynamics to minimize tracking error. The simulations of this hybrid controller, when compared with the proportional-integral-derivative (PID) controller showed enhanced performance.

Keywords

adaptive control; feedback; fuzzy logic; fuzzy reasoning; linear quadratic control; medical control systems; neurocontrollers; prosthetics; 14 degrees of freedom; adaptive neuro-fuzzy inference system; feedback linearized dynamics; finite-time linear quadratic optimal control; five-fingered smart prosthetic hand; hard computing; hybrid control strategy; inverse kinematics; soft computing; Adaptive control; Adaptive systems; Control systems; Kinematics; Neurofeedback; Optimal control; Pi control; Programmable control; Proportional control; Prosthetic hand; Adaptive Neuro-Fuzzy Inference System; Hybrid Control; Optimal Control; PID Control; Prosthetic Hand;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5400771

Filename

5400771