Title :
Adaptive Fuzzy Control for a Dual-Thumbed Hand
Author :
Hongcai, Zhao ; Congqing, Wang
Author_Institution :
Sch. of Autom. Eng., Qingdao Technol. Univ., Qingdao, China
Abstract :
Adaptive fuzzy control scheme is given and applied to position control of a single finger joint for a dual-thumbed hand. The dynamic model of the hand is established. The fuzzy control rules based on the characteristics of human being grasping is determined. The effectiveness of the presented control scheme is proved through simulation experiment for a dual-thumbed hand. The experiment results show that the system has a better performance.
Keywords :
adaptive control; fuzzy control; adaptive fuzzy control; dual thumbed hand; position control; Adaptation model; DC motors; Fingers; Fuzzy control; Humans; Joints; Robots; adaptive fuzzy control; dual-thumbed hand; dynamic model;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-6880-5
DOI :
10.1109/iCECE.2010.92
