@inproceedings{098009f3275f4363b3d687b730d5939b,
title = "A hybrid optimal control strategy for a smart prosthetic hand",
abstract = "This paper presents a hybrid of a soft computing or control technique of adaptive neuro-fuzzy inference system (ANFIS) and a hard computing or control technique of the hybrid finite-time linear quadratic optimal control for a two-fingered (thumb and index) prosthetic hand. In particular, the ANFIS is used for inverse kinematics, and the optimal control is used to minimize tracking error utilizing feedback linearized dynamics. The simulations of this hybrid controller, when compared with the proportional-integral-derivative (PID) controller showed enhanced performance. Work is underway to extend this methodology to a five-fingered, three-dimensional prosthetic hand.",
author = "Chen, {Cheng Hung} and Naidu, {D. Subbaram} and Alba Perez-Gracia and Schoen, {Marco P.}",
year = "2010",
doi = "10.1115/DSCC2009-2507",
language = "English (US)",
isbn = "9780791848920",
series = "Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009",
publisher = "American Society of Mechanical Engineers (ASME)",
number = "PART B",
pages = "1001--1008",
booktitle = "Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009",
edition = "PART B",
note = "2009 ASME Dynamic Systems and Control Conference, DSCC2009 ; Conference date: 12-10-2009 Through 14-10-2009",
}