Prosthetic hand finger control using fuzzy sliding modes


Arslan Y. Z. , Hacioglu Y. , Yagiz N.

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, cilt.52, ss.121-138, 2008 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 52 Konu: 1
  • Basım Tarihi: 2008
  • Doi Numarası: 10.1007/s10846-008-9207-8
  • Dergi Adı: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
  • Sayfa Sayıları: ss.121-138

Özet

In order to improve the life quality of amputees, providing approximate manipulation ability of a human hand to that of a prosthetic hand is considered by many researchers. In this study, a biomechanical model of the index finger of the human hand is developed based on the human anatomy. Since the activation of finger bones are carried out by tendons, a tendon configuration of the index finger is introduced and used in the model to imitate the human hand characteristics and functionality. Then, fuzzy sliding mode control where the slope of the sliding surface is tuned by a fuzzy logic unit is proposed and applied to have the finger model to follow a certain trajectory. The trajectory of the finger model, which mimics the motion characteristics of the human hand, is pre-determined from the camera images of a real hand during closing and opening motion. Also, in order to check the robust behaviour of the controller, an unexpected joint friction is induced on the prosthetic finger on its way. Finally, the resultant prosthetic finger motion and the tendon forces produced are given and results are discussed.