Abstract
A hybrid force-position fuzzy control strategy is proposed to control a four-link prosthetic hand. Firstly, a dynamics model of the prosthetic hand system is obtained by using Newton-Euler method. Then, a control strategy is designed by combining a PD and a fuzzy logic controllers. The PD controller in the outer-loop is used to control the grasping force. The fuzzy controller in the inner-loop is adopted to control the grasping position. Finally, the prosthesis system with the proposed controller is simulated by pinching different virtual springs and compared with a hybrid force-velocity controller. The simulation results show the hybrid force-position fuzzy control method is more effective.
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Zhu, G., Duan, X., Deng, H. (2013). Hybrid Force-Position Fuzzy Control for a Prosthetic Hand. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40852-6_42
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DOI: https://doi.org/10.1007/978-3-642-40852-6_42
Publisher Name: Springer, Berlin, Heidelberg
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