期刊
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
卷 55, 期 5, 页码 1572-1581出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TBME.2007.914672
关键词
force control; prosthetics; sliding mode control
Four different methods of hand prosthesis control are developed and examined experimentally. Open-loop control is shown to offer the least sensitivity when manipulating objects. Force feedback substantially improves upon open-loop control. However, it is shown that the inclusion of velocity and/or position feedback in a hybrid force-velocity control scheme can further improve the functionality of hand prostheses. Experimental results indicate that the sliding mode controller with force, position, and velocity feedback is less prone to unwanted force overshoot when initially grasping objects than the other controllers.
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