Force control of an underactuated prosthetic hand based on sliding mode with exponential reaching law

DOI

10.2991/aest-16.2016.24How to use a DOI?

Keywords

force control; underactuated prosthetic hand; sliding mode control.

Abstract

The design of a sliding mode force control system for an underactuated prosthetic hand system are addressed in this study. First, a mathematical model of underactuated prosthetic hand is developed and state equation of DC motors is discussed for force control. Next, sliding mode force control based on exponential reaching law was discussed to increase the control response. Finally, the proposed control strategy for underactuated prosthetic hand is simulated to grasp soft, medium or firm objects. The results verify the effectiveness of the force control method based on sliding mode with exponential reaching law.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Huanxin Luo
AU  - Rong Hu
AU  - Hua Deng
PY  - 2016/11
DA  - 2016/11
TI  - Force control of an underactuated prosthetic hand based on sliding mode with exponential reaching law
BT  - Proceedings of the 2016 International Conference on Advanced Electronic Science and Technology (AEST 2016)
PB  - Atlantis Press
SP  - 186
EP  - 192
SN  - 1951-6851
UR  - https://doi.org/10.2991/aest-16.2016.24
DO  - 10.2991/aest-16.2016.24
ID  - Luo2016/11
ER  -