An adaptive control strategy for a five-fingered prosthetic hand

Authors:
Cheng-Hung Chen;D. Subbaram Naidu;Marco P. Schoen
Affiliations:
Measurement and Control Engineering Research Center, Dept. of Biological Sciences, Idaho State University, Pocatello, ID;Measurement and Control Engineering Research Center, Dept. of Electrical Engineering, Idaho State University, Pocatello, ID;Measurement and Control Engineering Research Center, Dept. of Mechanical Engineering, Idaho State University, Pocatello, ID
Venue:
ICS'10 Proceedings of the 14th WSEAS international conference on Systems: part of the 14th WSEAS CSCC multiconference - Volume II
Year:
2010

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Abstract

In this paper, an adaptive control strategy is developed for the 14 degrees of freedom (DOFs), five-fingered smart prosthetic hand with unknown mass and inertia of all the fingers. In particular, the forward and inverse kinematics of the system regarding the analytical relationship between the angular positions of joints and the positions and orientations of the end-effectors (fingertips) have been obtained using a desired orientation for three-link fingers. The simulations of the resulting adaptive controller with five-fingered prosthetic hand show enhanced performance.