Optimal control strategy for two-fingered smart prosthetic hand

Cheng Hung Chen, D. Subbaram Naidu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

This paper addresses the optimal control for a two-fingered (thumb and index finger) prosthetic hand. To speed up the performance and improve the accuracy, we modified the performance index by including an exponential term. First, we developed the differential kinematics for a serial n-link revolute-joint planar manipulator to computer the angular velocities and angular accelerations of each finger. Further, the trajectory planning of the orientation was designed by using cubic polynomial. Simulations show that the proposed technique provides fast action with high accuracy and 30-fold faster than ANFIS or GA based trajectory planning.

Original languageEnglish (US)
Title of host publicationProceedings of the IASTED International Conference on Robotics and Applications, RA 2010
Pages190-196
Number of pages7
DOIs
StatePublished - Dec 1 2010
EventIASTED International Conference on Robotics and Applications, RA 2010 - Cambridge, MA, United States
Duration: Nov 1 2010Nov 3 2010

Publication series

NameProceedings of the IASTED International Conference on Robotics and Applications
ISSN (Print)1027-264X

Other

OtherIASTED International Conference on Robotics and Applications, RA 2010
CountryUnited States
CityCambridge, MA
Period11/1/1011/3/10

Keywords

  • ANFIS
  • Optimal control
  • Prosthetic hand
  • Stability

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