Mechanical Engineering Faculty Research
Title
Adaptive Sliding Manifold Slope via Grasped Object Stiffness Detection with a Prosthetic Hand
Document Type
Article
Publication Date
12-2013
Abstract
Upper limb amputees have expressed the desire for their prosthetic hands to better adapt to the parameters of different grasped objects. In response to this need, an adaptive sliding mode controller (ASMC) is developed that has a variable-slope manifold which is dependent upon the stiffness of the grasped object. The ASMC is experimentally compared to a sliding mode controller (SMC) which has a constant manifold slope over a wide range of grasped object stiffness, ranging from an empty hand to a steel bar. Experimental results indicate that both controllers have satisfactory percent overshoot characteristics; however, the ASMC has significantly less absolute error for all experiments performed with eight different levels of grasped object stiffness.
Publication Title
Mechatronics
Volume
23
Issue
8
First Page
1171
Last Page
1179
Recommended Citation
Andrecioli, Ricardo and Engeberg, Erik D., "Adaptive Sliding Manifold Slope via Grasped Object Stiffness Detection with a Prosthetic Hand" (2013). Mechanical Engineering Faculty Research. 90.
https://ideaexchange.uakron.edu/mechanical_ideas/90