A Fuzzy PID Control Method for the Grasping Force of an Underactuated Prosthetic Hand

Abstract:

The prosthetic hand which is the auxiliary equipment of the disabled people in the daily life must ensure stable grasping. Therefore, grasping force control with high accuracy and fast response is the most significant demand. With a conventional PID control, nonlinear dynamic and modeling error of prosthetic hand highly affect the control performance, causing deviation of desired force and slow response. A fuzzy PID control strategy is proposed for eliminating the influence of modeling error and implementing the grasping force control. The PID controller parameters are tuned automatically, on-line, to improve the control performance of the prosthetic hand system. The simulation and experimental results are presented to demonstrate the reliability and effectiveness of the proposed control scheme.

• Periodical: Applied Mechanics and Materials (Volume 551)
• Pages: 514-522
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.551.514
• Online since: May 2014
• Authors: Qun Ming Li, Ya Ping Lv*
• Keywords: Fuzzy, Grasping Force, PID Control, Prosthetic Hand

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