sEMG based fuzzy control strategy with ANFIS path planning for prosthetic hand

Chandrasekhar Potluri; Parmod Kumar; Madhavi Anugolu; Steve Chiu; Alex Urfer; Marco P. Schoen; D. Subbaram Naidu

doi:10.1109/BIOROB.2010.5627782

sEMG based fuzzy control strategy with ANFIS path planning for prosthetic hand

Chandrasekhar Potluri, Parmod Kumar, Madhavi Anugolu, Steve Chiu, Alex Urfer, Marco P. Schoen, D. Subbaram Naidu

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Scopus citations

Abstract

This paper presents an intelligent adaptive neurofuzzy inference system (ANFIS) based fuzzy Mamdani controller for a multifingered prosthetic hand. The objective of the controller is to move the finger joint angles along pre-determined paths representing a grasping motion. The initiation of the grasping task is evaluated via EMG-entropy data, measured at the forearm of the prosthetic user. In addition to the motion control, the finger force is regulated with a Fuzzy logic controller. Simulation results indicate good performance of the proposed controller. Results show that the outputs follow the hand/finger force and given reference trajectory closely.

Original language	English (US)
Title of host publication	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages	413-418
Number of pages	6
DOIs	https://doi.org/10.1109/BIOROB.2010.5627782
State	Published - 2010
Event	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, Japan Duration: Sep 26 2010 → Sep 29 2010

Publication series

Name	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Other

Other	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Country/Territory	Japan
City	Tokyo
Period	9/26/10 → 9/29/10

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Potluri, C., Kumar, P., Anugolu, M., Chiu, S., Urfer, A., Schoen, M. P., & Naidu, D. S. (2010). sEMG based fuzzy control strategy with ANFIS path planning for prosthetic hand. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 413-418). Article 5627782 (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010). https://doi.org/10.1109/BIOROB.2010.5627782

sEMG based fuzzy control strategy with ANFIS path planning for prosthetic hand. / Potluri, Chandrasekhar; Kumar, Parmod; Anugolu, Madhavi et al.
2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. p. 413-418 5627782 (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Potluri, C, Kumar, P, Anugolu, M, Chiu, S, Urfer, A, Schoen, MP & Naidu, DS 2010, sEMG based fuzzy control strategy with ANFIS path planning for prosthetic hand. in 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010., 5627782, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, pp. 413-418, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, Tokyo, Japan, 9/26/10. https://doi.org/10.1109/BIOROB.2010.5627782

Potluri C, Kumar P, Anugolu M, Chiu S, Urfer A, Schoen MP et al. sEMG based fuzzy control strategy with ANFIS path planning for prosthetic hand. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. p. 413-418. 5627782. (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010). doi: 10.1109/BIOROB.2010.5627782

Potluri, Chandrasekhar ; Kumar, Parmod ; Anugolu, Madhavi et al. / sEMG based fuzzy control strategy with ANFIS path planning for prosthetic hand. 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. pp. 413-418 (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010).

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abstract = "This paper presents an intelligent adaptive neurofuzzy inference system (ANFIS) based fuzzy Mamdani controller for a multifingered prosthetic hand. The objective of the controller is to move the finger joint angles along pre-determined paths representing a grasping motion. The initiation of the grasping task is evaluated via EMG-entropy data, measured at the forearm of the prosthetic user. In addition to the motion control, the finger force is regulated with a Fuzzy logic controller. Simulation results indicate good performance of the proposed controller. Results show that the outputs follow the hand/finger force and given reference trajectory closely.",

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sEMG based fuzzy control strategy with ANFIS path planning for prosthetic hand

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