Proceedings of the 2016 International Conference on Advanced Electronic Science and Technology (AEST 2016)

Force control of an underactuated prosthetic hand based on sliding mode with exponential reaching law

Authors
Huanxin Luo, Rong Hu, Hua Deng
Corresponding Author
Huanxin Luo
Available Online November 2016.
DOI
https://doi.org/10.2991/aest-16.2016.24How to use a DOI?
Keywords
force control; underactuated prosthetic hand; sliding mode control.
Abstract
The design of a sliding mode force control system for an underactuated prosthetic hand system are addressed in this study. First, a mathematical model of underactuated prosthetic hand is developed and state equation of DC motors is discussed for force control. Next, sliding mode force control based on exponential reaching law was discussed to increase the control response. Finally, the proposed control strategy for underactuated prosthetic hand is simulated to grasp soft, medium or firm objects. The results verify the effectiveness of the force control method based on sliding mode with exponential reaching law.
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Proceedings
2016 International Conference on Advanced Electronic Science and Technology (AEST 2016)
Part of series
Advances in Intelligent Systems Research
Publication Date
November 2016
ISBN
978-94-6252-257-2
ISSN
1951-6851
DOI
https://doi.org/10.2991/aest-16.2016.24How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Huanxin Luo
AU  - Rong Hu
AU  - Hua Deng
PY  - 2016/11
DA  - 2016/11
TI  - Force control of an underactuated prosthetic hand based on sliding mode with exponential reaching law
BT  - 2016 International Conference on Advanced Electronic Science and Technology (AEST 2016)
PB  - Atlantis Press
SN  - 1951-6851
UR  - https://doi.org/10.2991/aest-16.2016.24
DO  - https://doi.org/10.2991/aest-16.2016.24
ID  - Luo2016/11
ER  -