Model-Based Feedforward Derivative Compensation For Prosthetic Hands

被引：1
|
作者：
Engeberg, Erik D. [1 ]
Meek, Sanford G. [2 ]
机构：
[1] Univ Akron, Dept Mech Engn, Akron, OH 44325 USA
[2] Univ Utah, Dept Mech Engn, Salt Lake City, UT 84112 USA
来源：
2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2 | 2008年
基金：
美国国家科学基金会;
关键词：
D O I：
10.1109/BIOROB.2008.4762855
中图分类号：
Q81 [生物工程学（生物技术）]; Q93 [微生物学];
学科分类号：
071005 ; 0836 ; 090102 ; 100705 ;
摘要：
Two methods of prosthetic hand control are investigated. A typical proportional force control scheme is compared to a force controller with a feedforward inertia stopping derivative term. Eleven human operators use these two controllers with an antagonist electromyogram input. The experimental feedforward force controller is found to help prevent unwanted force overshoot when initially grasping objects.
引用
收藏
页码：61 / +
页数：2
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