The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS
Transactions ID Number: 88-373
Full Name: Marco Schoen
Position: Professor
Age: ON
Sex: Male
Address: 921 South 8th Ave., Stop 8060, Pocatello, Idaho
Country: UNITED STATES
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E-mail address: schomarc@isu.edu
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Title of the Paper: Adaptive Control for a Five-Fingered Prosthetic Hand with Unknown Mass and Inertia
Authors as they appear in the Paper: Cheng-Hung Chen, D. Subbaram Naidu, Marco P. Schoen
Email addresses of all the authors: chenchen@isu.edu,naiduds@isu.edu,schomarc@isu.edu
Number of paper pages: 10
Abstract: An adaptive control strategy for the 14 degrees of freedom (DOFs), five-fingered smart prosthetic hand with unknown mass and inertia of all the fingers is developed in this work. In modeling, the various links used for the five fingers of the prosthetic hand are shown. A cubic polynomial for the trajectory planning is used. In particular, using a desired orientation for three-link fingers, the forward and inverse kinematics of the prosthetic hand system regarding the analytical solutions between the angular positions of joints and the positions and orientations of the end-effectors (fingertips) have been obtained. The simulations of the resulting adaptive controller with five-fingered prosthetic hand show enhanced performance.
Keywords: Adaptive Control, Prosthetic Hand, Hard Control, Five Finger Hand, Feedback Linearization, Trajectory Planning
EXTENSION of the file: .pdf
Special (Invited) Session: An Adaptive Control Strategy for a Five-Fingered Prosthetic Hand
Organizer of the Session: 646-439
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