Hybrid control strategies for a five-finger robotic hand

作者：Chen Cheng Hung^*; Naidu D Subbaram

来源：Biomedical Signal Processing and Control, 2013, 8(4): 382-390.

DOI：10.1016/j.bspc.2013.02.003

• Robotic hand
• Hybrid control
• Fuzzy logic
• PD control
• Adaptive neuro-fuzzy inference system
• Soft computing
• Prosthetic hand

This paper presents a hybrid controller of soft control techniques, adaptive neuro-fuzzy inference system (ANFIS) and fuzzy logic (FL), and hard control technique, proportional-derivative (PD), for a five-finger robotic hand with 14-degrees-of-freedom (DoF). The ANFIS is used for inverse kinematics of three-link fingers and FL is used for tuning the PD parameters with 2 input layers (error and error rate) using 7 triangular membership functions and 49 fuzzy logic rules. Simulation results with the hybrid of FL-tuned PD controller exhibit superior performance compared to PD, PID and FL controllers alone.

• 出版日期2013-7