Fuzzy force control based on grasped objects stiffness of tendon-driven underactuated prosthetic hand system

2019 The 5th International Conference on Electrical Engineering, Control and Robotics

无线电电子学;计算机科学

Huanxin, Luo^1^2 ; Hua, Deng^1^2

School of Mechanical and Electrical Engineering, Central South University, Changsha

410083, China^1

State Key Laboratory of High Performance Complex Manufacturing, Changsha

410083, China^2

关键词: Control methods;    Control performance;    Control strategies;    Force-based;    Grasped object;    Prosthetic hands;    Tendon driven;    Underactuated;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/533/1/012023/pdf
DOI  :  10.1088/1757-899X/533/1/012023

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

The design of an fuzzy force based on grasped objects stiffness method for tendon-driven underactuated prosthetic hand system are addressed in this study. First, a mathematical model of tendon-driven underactuated prosthetic hand is developed for force control. Next, fuzzy force based on grasped objects stiffness was discussed to improve the control performance. Finally, the proposed control strategy for underactuated prosthetic hand is simulated to six different stiffness objects. The results shown that the controller is suit for prosthetic hand grasp objects with different stiffness. The simulation results verify the effectiveness of the force control method based on grasped objects stiffness.