Hybrid force-velocity sliding mode control of a prosthetic hand

IEEE Transactions on Biomedical Engineering

Volumn 55, Issue 5, 2008, Pages 1572-1581

  Engeberg, Erik D ^a   Meek, Sanford G ^b   Minor, Mark A ^b  

^a UNIVERSITY OF UTAH   (United States)

^b Department of Electrical and Computer Engineering   (United States)

Author keywords

Force control; Prosthetics; Sliding mode control

Indexed keywords

FORCE CONTROL; SLIDING MODE CONTROL;

PROSTHETIC HAND; VELOCITY FEEDBACK;

PROSTHETICS;

ARTICLE; BIOMECHANICS; CONTROL SYSTEM; FEEDBACK SYSTEM; FORCE; HAND GRIP; HAND PROSTHESIS; VELOCITY;

ARTIFICIAL LIMBS; ELECTROMYOGRAPHY; EQUIPMENT DESIGN; EQUIPMENT FAILURE ANALYSIS; FEEDBACK; HAND; HUMANS; MAN-MACHINE SYSTEMS; USER-COMPUTER INTERFACE;

EID: 42249102924     PISSN: 00189294     EISSN: None     Source Type: Journal    
DOI: 10.1109/TBME.2007.914672     Document Type: Article

References (22)

1. D. Childress, "Powered limb prostheses: Their clinical significance," IEEE Trans. Biomed. Eng., vol. BEM-20, pp. 200-207, May 1973.
2. T. Farrell, R. Weir, C. Heckathorne, and D. Childress, "The effects of static friction and backlash on extended physiological proprioception control of a powered prosthesis," J. Rehabil. Res. Dev., vol. 42, pp. 327-342, May/Jun. 2005.
3. N. Hogan, "Adaptive control of mechanical impedance by coactivation of antagonistic muscles," IEEE Trans. Autom. Control, vol. AC-29, no. 8, pp. 681-690, Aug. 1984.
4. S. Meek and S. Fetherston, "Comparison of signal-to-noise ratio of myoelectric filters for prosthesis control," J. Rehabil. Res. Dev., vol. 29, no. 4, pp. 9-20, 1992.
5. N. Hogan, "A review of the methods for processing EMG for use as a proportional control signal," IEEE Trans. Biomed. Eng., vol. 11, pp. 81-86, Mar. 1976.
6. H. Sears and J. Shaperman, "Proportional myoelectric hand control: An evaluation," Amer. J. Phys. Med. Rehabil., vol. 70, no. 1, pp. 20-28, Feb. 1991.
7. A. Muzumdar, Powered Upper Limb Prostheses. Berlin, Germany: Springer-Verlag, 2004.
8. J. Nightingale, "Microprocessor control of an artificial arm," J. Microcomp. Appl., vol. 8, pp. 167-173, 1985.
9. P. Kyberd and P. Chappell, "The Southhampton hand: An intelligent myoelectric prosthesis," J. Rehabil. Res. Dev., vol. 31, no. 4, pp. 326-334, Nov. 1994.
10. C. Light, P. Chappell, B. Hudgins, and K. Englehart, "Intelligent multifunction myoelectric control of hand prostheses," J. Med. Eng. Technol., vol. 26, no. 4, pp. 139-146, Jul./Aug. 2002.
11. A. Mingrino, A. Bucci, R. Magni, and P. Dario, "Slippage control in hand prostheses by sensing grasping forces and sliding motion," Proc. IEEE Int. Conf. Intell. Robots Syst., 1994, vol. 3, pp. 1803-1809.
12. G. Puchhammer, "The tactile slip sensor: Integration of a miniaturized sensory device on an myoelectric hand," Orthopadie-Technik Quarterly, English, edition I/2000, p. 7-12.
13. L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulators, 2nd ed. New York: Springer-Verlag, 2000.
14. P. Scherillo, B. Siciliano, L. Zollo, M. Carrozza, M. Guglielmelli, and P. Dario, "Parallel force/position control of a novel biomechatronic hand prosthesis," in Proc. 2003 IEEE/ASME Int. Conf. Adv. Intell. Mechatron., pp. 920-925.
15. G. Dillon and K. Horch, "Direct neural sensory feedback and control of a prosthetic arm," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 13, no. 4, pp. 468-472, Dec. 2005.
16. H. K. Khalil, Nonlinear Systems, 3rd ed. Upper Saddle River, NJ: Prentice-Hall, 2002, ch. 14, pp. 552-578.
17. J. Slotine and W. Li, Applied Nonlinear Control. Upper Saddle River, NJ: Prentice-Hall, 1991, ch. 7, pp. 276-310.
18. J. Slotine, "Sliding controller design for nonlinear systems," Int. J. Control, vol. 40, pp. 421-434, Jul.-Sep. 1984.
19. J. Slotine, "Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators," Int. J. Control, vol. 38, pp. 465-492, 1983.
20. S. Jezernik, R. Wassink, and T. Keller, "Sliding mode closed-loop control of FES: Controlling the Shank movement," IEEE Trans. Biomed. Eng., vol. 51, no. 2, pp. 263-272, Feb. 2004.
21. J. Seok, "Frequency-spectrum-based antiwindup compensator for PI-controlled systems," IEEE Trans. Ind. Electron., vol. 3, no. 6, pp. 1781-1790, Dec. 2006.
22. E. Engeberg and S. Meek, "Improved grasp force sensitivity for prosthetic hands through force derivative feedback," IEEE Trans. Biomed. Eng., vol. 55, pp. 817-821, 2008.