2013
DOI: 10.2478/pjbr-2013-0001
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A Two Layered Control Architecture for Prosthetic Grasping

Abstract: This paper presents a two layered control architecture -Superior hand control (SHC) followed by Local hand control (LHC) for an extreme upper limb prosthesis. The control architecture is for executing grasping operations involved in 70% of daily living activities. Forearm electromyogram actuated SHC is for recognition of user' s intended grasp. LHC control the fingers to be actuated for the recognized grasp. The finger actuation is controlled through a proportionalintegral-derivative controller customized with… Show more

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Cited by 4 publications
(2 citation statements)
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“…Model predictive control (MPC) appeared to be a more suitable control approach for imitating the bio-dynamic movements even in the presence of external disturbances [15]. This paper is an extension of the work reported in our earlier papers [16], [17] on Tezpur University (TU) Biomimetic Hand. The focus is on a control approach for emulating the humanlike finger joint trajectories by the TU Biomimetic Hand.…”
Section: Introductionmentioning
confidence: 90%
See 1 more Smart Citation
“…Model predictive control (MPC) appeared to be a more suitable control approach for imitating the bio-dynamic movements even in the presence of external disturbances [15]. This paper is an extension of the work reported in our earlier papers [16], [17] on Tezpur University (TU) Biomimetic Hand. The focus is on a control approach for emulating the humanlike finger joint trajectories by the TU Biomimetic Hand.…”
Section: Introductionmentioning
confidence: 90%
“…A N+1 tendon system with direct current geared motor is used for actuation of the fingers. For detail on the SHC and LHC, please refer to our earlier paper [16]. TU Biomimetic Hand resembles the human hand in terms of dimensions, joint range of motion (RoM), degrees of motion (DoF), weight, number of actuators, palm length, number of joints, number of fingers with a biomimetic similarity index of 0.96 [20].…”
Section: Tu Biomimetic Handmentioning
confidence: 99%