A dual-loop control system of grasping force for prosthetic hands

DOI

10.2991/aest-16.2016.79How to use a DOI?

Keywords

dual-loop control system; prosthetic hands; reflex control; grasping force; fuzzy controller.

Abstract

Despite the rapid developments of prosthetic hands technologies in recent years, there still exists a huge gap between prosthetic hands and human hands in flexibility. The limitation of sensors attached to the prosthetic hand is one of the causes, and another reason is that the materials, weight, and stiffness of the object gripped by a prosthetic hand are unknown. Additionally, the external disturbances in prosthetic hands are not certain. The factors mentioned above lead to difficulties in controlling grasping force of prosthetic hands, and that affects the quality of prosthetic hands applications. Therefore, it is important to design a stable and reliable system to control grasping force. This paper presents a dual-loop control system of grasping force for prosthetic hands, and we carried out some relative experiments based on a single degrees of freedom prosthetic hand. The experiment results show that the proposed control system is effective.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Congbo Li
AU  - Xiaobao Deng
AU  - Qunming Li
PY  - 2016/11
DA  - 2016/11
TI  - A dual-loop control system of grasping force for prosthetic hands
BT  - Proceedings of the 2016 International Conference on Advanced Electronic Science and Technology (AEST 2016)
PB  - Atlantis Press
SP  - 589
EP  - 597
SN  - 1951-6851
UR  - https://doi.org/10.2991/aest-16.2016.79
DO  - 10.2991/aest-16.2016.79
ID  - Li2016/11
ER  -