Author: Cheng-Hung ChenPublisher:
ISBN:
Category : Dissertations, Academic
Languages : en
Pages : 484
Book Description
Hybrid Control Strategies for Smart Prosthetic Hand
Author: Cheng-Hung ChenPublisher:
ISBN:
Category : Dissertations, Academic
Languages : en
Pages : 484
Book Description
Fusion of Hard and Soft Control Strategies for the Robotic Hand
Author: Cheng-Hung ChenPublisher:
ISBN: 9781119273622
Category : TECHNOLOGY & ENGINEERING
Languages : en
Pages :
Book Description
An in-depth review of hybrid control techniques for smart prosthetic hand technology by two of the world's pioneering experts in the field Long considered the stuff of science fiction, a prosthetic hand capable of fully replicating all of that appendage's various functions is closer to becoming reality than ever before. This book provides a comprehensive report on exciting recent developments in hybrid control techniques--one of the most crucial hurdles to be overcome in creating smart prosthetic hands. Coauthored by two of the world's foremost pioneering experts in the field, Fusion of Hard and Soft Control Strategies for the Robotic Hand treats robotic hands for multiple applications. It begins with an overview of advances in main control techniques that have been made over the past decade before addressing the military context for affordable robotic hand technology with tactile and/or proprioceptive feedback for hand amputees. Kinematics, homogeneous transformations, inverse and differential kinematics, trajectory planning, and dynamic models of two-link thumb and three-link index finger are discussed in detail. The remainder of the book is devoted to the most promising soft computing techniques, particle swarm optimization techniques, and strategies combining hard and soft controls. In addition, the book: . Includes a report on exciting new developments in prosthetic/robotic hand technology, with an emphasis on the fusion of hard and soft control strategies. Covers both prosthetic and nonprosthetic hand designs for everything from routine human operations, robotic surgery, and repair and maintenance, to hazardous materials handling, space applications, explosives disposal, and more. Provides a comprehensive overview of five-fingered robotic hand technology kinematics, dynamics, and control. Features detailed coverage of important recent developments in neuroprosthetics Fusion of Hard and Soft Control Strategies for the Robotic Hand is a must-read for researchers in control engineering, robotic engineering, biomedical sciences and engineering, and rehabilitation engineering.
Fusion of Hard and Soft Control Strategies for the Robotic Hand
Author: Cheng-Hung ChenPublisher: John Wiley & Sons
ISBN: 1119273617
Category : Technology & Engineering
Languages : en
Pages : 226
Book Description
An in-depth review of hybrid control techniques for smart prosthetic hand technology by two of the world’s pioneering experts in the field Long considered the stuff of science fiction, a prosthetic hand capable of fully replicating all of that appendage’s various functions is closer to becoming reality than ever before. This book provides a comprehensive report on exciting recent developments in hybrid control techniques—one of the most crucial hurdles to be overcome in creating smart prosthetic hands. Coauthored by two of the world’s foremost pioneering experts in the field, Fusion of Hard and Soft Control Strategies for Robotic Hand treats robotic hands for multiple applications. Itbegins withan overview of advances in main control techniques that have been made over the past decade before addressing the military context for affordable robotic hand technology with tactile and/or proprioceptive feedback for hand amputees. Kinematics, homogeneous transformations, inverse and differential kinematics, trajectory planning, and dynamic models of two-link thumb and three-link index finger are discussed in detail. The remainder of the book is devoted to the most promising soft computing techniques, particle swarm optimization techniques, and strategies combining hard and soft controls. In addition, the book: Includes a report on exciting new developments in prosthetic/robotic hand technology, with an emphasis on the fusion of hard and soft control strategies Covers both prosthetic and non-prosthetic hand designs for everything from routine human operations, robotic surgery, and repair and maintenance, to hazardous materials handling, space applications, explosives disposal, and more Provides a comprehensive overview of five-fingered robotic hand technology kinematics, dynamics, and control Features detailed coverage of important recent developments in neuroprosthetics Fusion of Hard and Soft Control Strategies for Robotic Hand is a must-read for researchers in control engineering, robotic engineering, biomedical sciences and engineering, and rehabilitation engineering.
Fusion of Hard and Soft Control Strategies for the Robotic Hand
Author: Cheng-Hung ChenPublisher: John Wiley & Sons
ISBN: 1119273595
Category : Technology & Engineering
Languages : en
Pages : 256
Book Description
An in-depth review of hybrid control techniques for smart prosthetic hand technology by two of the world’s pioneering experts in the field Long considered the stuff of science fiction, a prosthetic hand capable of fully replicating all of that appendage’s various functions is closer to becoming reality than ever before. This book provides a comprehensive report on exciting recent developments in hybrid control techniques—one of the most crucial hurdles to be overcome in creating smart prosthetic hands. Coauthored by two of the world’s foremost pioneering experts in the field, Fusion of Hard and Soft Control Strategies for Robotic Hand treats robotic hands for multiple applications. Itbegins withan overview of advances in main control techniques that have been made over the past decade before addressing the military context for affordable robotic hand technology with tactile and/or proprioceptive feedback for hand amputees. Kinematics, homogeneous transformations, inverse and differential kinematics, trajectory planning, and dynamic models of two-link thumb and three-link index finger are discussed in detail. The remainder of the book is devoted to the most promising soft computing techniques, particle swarm optimization techniques, and strategies combining hard and soft controls. In addition, the book: Includes a report on exciting new developments in prosthetic/robotic hand technology, with an emphasis on the fusion of hard and soft control strategies Covers both prosthetic and non-prosthetic hand designs for everything from routine human operations, robotic surgery, and repair and maintenance, to hazardous materials handling, space applications, explosives disposal, and more Provides a comprehensive overview of five-fingered robotic hand technology kinematics, dynamics, and control Features detailed coverage of important recent developments in neuroprosthetics Fusion of Hard and Soft Control Strategies for Robotic Hand is a must-read for researchers in control engineering, robotic engineering, biomedical sciences and engineering, and rehabilitation engineering.
An Intelligent Prosthetic Hand Using Hybrid Actuation and Myoelectric Control
Author: Beng Guey LauSimulation and Real-time Control of a Smart Prosthetic Hand
Author: Amir FassihNonlinear Control Strategy for a Cost Effective Myoelectric Prosthetic Hand
Author: Cristian Federico PasluostaPublisher:
ISBN:
Category : Artificial hands
Languages : en
Pages : 330
Book Description
Smart Prosthetics
Author: The National AcademiesPublisher: National Academies Press
ISBN: 0309104661
Category : Medical
Languages : en
Pages : 140
Book Description
The 2006 conference, "Smart Prosthetics: Exploring Assistive Devices for the Body and Mind," attracted scientists, engineers and medical researchers to participate in a series of task groups to develop research plans to address various challenges within the prosthetics field. Eleven conference task groups gave the participants eight hours to develop new research approaches to various challenges, including: build a smart prosthesis that will grow with a child; develop a smart prosthetic that can learn better and/or faster; refine technologies to create active orthotic devices; and describe a framework for replacing damaged cortical tissue and fostering circuit integration to restore neurological function. Representatives from public and private funding organizations, government, industry, and the science media also participated in the task groups. This book provides a summary of the conference task groups. For more information about the conference, visit the Smart Prosthetics conference site. The National Academies Keck Futures Initiative was launched in 2003 to stimulate new modes of scientific inquiry and break down the conceptual and institutional barriers to interdisciplinary research. The National Academies and the W.M. Keck Foundation believe considerable scientific progress and social benefit will be achieved by providing a counterbalance to the tendency to isolate research within academic fields. The Futures Initiative is designed to enable researchers from different disciplines to focus on new questions upon which they can base entirely new research, and to encourage better communication between scientists as well as between the scientific community and the public. Funded by a $40 million grant from the W.M. Keck Foundation, the National Academies Keck Futures Initiative is a 15-year effort to catalyze interdisciplinary inquiry and to enhance communication among researchers, funding agencies, universities, and the general public with the object of stimulating interdisciplinary research at the most exciting frontiers. The Futures Initiative builds on three pillars of vital and sustained research: interdisciplinary encounters that counterbalance specialization and isolation; the identification and exploration of new research topics; and communication that bridges languages, cultures, habits of thought, and institutions. Toward these goals, the National Academies Keck Futures Initiative incorporates three core activities each year: Futures conferences, Futures grants, and National Academies Communication Awards. For more information about the Initiative, visit www.keckfutures.org.
Intelligent Robotics and Applications
Author: Honghai LiuPublisher: Springer
ISBN: 331922879X
Category : Computers
Languages : en
Pages : 699
Book Description
This three volume set LNAI 9244, 9245, and 9246 constitutes the refereed proceedings of the 8th International Conference on Intelligent Robotics and Applications, ICIRA 2015, held in Portsmouth, UK, in August 2015. The 60 papers included in the first volume are organized in topical sections on analysis and control for complex systems; marine vehicles and oceanic engineering; drives and actuators’ modeling; biomechatronics in bionic dexterous hand; robot actuators and sensors; intelligent visual systems; estimation and identification; and adaptive control system.
Grasped Object Stiffness Detection for Adaptive Control of a Prosthetic Hand
Author: Ricardo AndrecioliPublisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 159
Book Description
Unfortunately, statistical analyses of amputee data shows an increase of the population with upper limb losses either by trauma or birth congenital defects. Several prosthesis options are commercially available, including electric powered prostheses. A review of surveys for upper limb prosthesis users have indicated improvement opportunities in the prosthesis design as well as improved functionality and controls. After review of literature, a PID sliding mode position controller and an adaptive PID sliding mode controller are presented for a prosthetic hand. The adaptive controller smoothly modulates the gains based on the detected stiffness of the grasped object. Three main control strategies will be compared: PID force control, sliding mode position and hybrid sliding mode force-position controllers. For each control option, an adaptive version will also be tested via benchtop experiments. In order to evaluate the performance of each controller under several grasping circumstances, a special manipulandum was designed to provide variable linear and nonlinear stiffness behavior, then each controller was then evaluated according to an experiment plan. The results from benchtop experiments indicate statistically significant improvements such as improved tracking response and reduced steady state error in the system response when using the adaptive controller for all three control cases considered. When comparing Force versus Position versus Hybrid Force-Position control, the latter when equipped of the adaptation method has presented the best results. Preliminary amputee experiments were also conducted using the adaptive hybrid force-position controller in comparison to the constant gain controller as well as the amputees' current prostheses for daily use. The results of these experiments show that the adaptive hybrid force-position sliding mode controller enabled the amputees to smoothly handle the manipulandum without breaking it.