A hybrid adaptive control strategy for a smart prosthetic hand

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Title:	A hybrid adaptive control strategy for a smart prosthetic hand
Author:	Chen, Cheng-Hung; Naidu, D. Subbaram; Pérez Gracia, Alba; Schoen, Marco P.
Other authors:	Institut de Robòtica i Informàtica Industrial
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.
Abstract:	Peer Reviewed
Subject(s):	-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robotics in medicine -Robòtica mèdica -- Congressos -Classificació INSPEC::Automation::Robots::Medical robotics
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Document type:	Article - Published version Conference Object
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