Optimal Control Strategy for Two-Fingered Smart Prosthetic Hand

C.-H. Chen and D.S. Naidu (USA)


Prosthetic Hand, Optimal Control, Stability, ANFIS


This paper addresses the optimal control for a two-fingered (thumb and index finger) prosthetic hand. To speed up the performance and improve the accuracy, we modified the performance index by including an exponential term. First, we developed the differential kinematics for a serial n-link revolute-joint planar manipulator to computer the angular velocities and angular accelerations of each finger. Further, the trajectory planning of the orientation was designed by using cubic polynomial. Simulations show that the pro posed technique provides fast action with high accuracy and 30-fold faster than ANFIS or GA based trajectory plan ning.

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