Backstepping and Sliding Mode Control Hybridized for a Prosthetic Hand

Open loop and force controllers are compared experimentally with three robust parallel force-velocity controllers that are developed for a prosthetic hand. Robust sliding mode, backstepping, and hybrid sliding mode-backstepping (HSMBS) parallel force-velocity controllers are tested by ten able-bodie...

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Veröffentlicht in:IEEE transactions on neural systems and rehabilitation engineering Jg. 17; H. 1; S. 70 - 79
Hauptverfasser: Engeberg, Erik D., Meek, Sanford G.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: United States IEEE 01.02.2009
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Adult
Algorithms
Amputation
Automatic control
Backstepping
Biomechanical Phenomena
Distributed parameter systems
Electromyography
Feedback
Female
Force control
Force feedback
Force measurement
Hand - physiology
Hand Strength
Humans
Male
Models, Statistical
Motion
Nonlinear Dynamics
Open loop systems
Prostheses and Implants
Prosthetic hand
prosthetics
Robust control
Sliding mode control
velocity control
Young Adult
ISSN:1534-4320, 1558-0210, 1558-0210
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Beschreibung
Zusammenfassung:Open loop and force controllers are compared experimentally with three robust parallel force-velocity controllers that are developed for a prosthetic hand. Robust sliding mode, backstepping, and hybrid sliding mode-backstepping (HSMBS) parallel force-velocity controllers are tested by ten able-bodied subjects. Results obtained with a myoelectrically controlled prosthesis indicate that all three robust controllers offer a statistically significant improvement over linear hand prosthesis control schemes. The robust controllers enable the human operators to more easily manipulate a delicate object. Bench top experiments combined with quantitative and qualitative evaluations from ten test subjects reveal the HSMBS controller to be the best choice to improve control of powered prosthetic hands.
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ISSN:1534-4320
1558-0210
1558-0210
DOI:10.1109/TNSRE.2008.2006212