Adaptive control for a five-fingered prosthetic hand with unknown mass and inertia

Authors:
Cheng-Hung Chen;D. Subbaram Naidu;Marco P. Schoen
Affiliations:
Measurement and Control Engineering Research Center and Department of Biological Sciences, School of Engineering, Idaho State University, Pocatello, ID;Measurement and Control Engineering Research Center and Department of Electrical Engineering, School of Engineering, Idaho State University, Pocatello, ID;Measurement and Control Engineering Research Center and Department of Mechanical Engineering, School of Engineering, Idaho State University, Pocatello, ID
Venue:
WSEAS TRANSACTIONS on SYSTEMS
Year:
2011

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Abstract

An adaptive control strategy for the 14 degrees of freedom (DOFs), five-fingered smart prosthetic hand with unknown mass and inertia of all the fingers is developed in this work. In modeling, the various links used for the five fingers of the prosthetic hand are shown. A cubic polynomial for the trajectory planning is used. In particular, using a desired orientation for three-link fingers, the forward and inverse kinematics of the prosthetic hand system regarding the analytical solutions between the angular positions of joints and the positions and orientations of the end-effectors (fingertips) have been obtained. The simulations of the resulting adaptive controller with five-fingered prosthetic hand show enhanced performance.