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A hybrid adaptive control strategy for a smart prosthetic hand
dc.contributor.author | Chen, Cheng-Hung |
dc.contributor.author | Naidu, D. Subbaram |
dc.contributor.author | Pérez Gracia, Alba |
dc.contributor.author | Schoen, Marco P. |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2010-06-22T12:55:24Z |
dc.date.available | 2010-06-22T12:55:24Z |
dc.date.created | 2009-09 |
dc.date.issued | 2009-09 |
dc.identifier.citation | Chen , C. [et al.]. A hybrid adaptive control strategy for a smart prosthetic hand. A: IEEE Engineering in Medicine and Biology Society (EMBS). Conference. "31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society". Minneapolis, Minnesota: 2009, p. 5056-5059. |
dc.identifier.isbn | 978-1-4244-3296-7 |
dc.identifier.uri | http://hdl.handle.net/2117/7795 |
dc.description.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 articular, 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. |
dc.format.extent | 4 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robotics in medicine |
dc.title | A hybrid adaptive control strategy for a smart prosthetic hand |
dc.type | Conference report |
dc.subject.lemac | Robòtica mèdica -- Congressos |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Medical robotics |
dc.relation.publisherversion | http://dx.doi.org/10.1109/IEMBS.2009.5334260 |
dc.rights.access | Open Access |
local.identifier.drac | 2358961 |
dc.description.version | Postprint (published version) |
local.citation.author | Chen , C.; Naidu, D.; Pérez, M.; Schoen, M. |
local.citation.contributor | IEEE Engineering in Medicine and Biology Society (EMBS). Conference |
local.citation.pubplace | Minneapolis, Minnesota |
local.citation.publicationName | 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society |
local.citation.startingPage | 5056 |
local.citation.endingPage | 5059 |