A Two Layered Control Architecture for Prosthetic Grasping
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 SH...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2013-09-01
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| Series: | Paladyn |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/pjbr-2013-0001 |
| _version_ | 1797428579922870272 |
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| author | Kakoty Nayan M. Hazarika Shyamanta M. |
| author_facet | Kakoty Nayan M. Hazarika Shyamanta M. |
| author_sort | Kakoty Nayan M. |
| collection | DOAJ |
| description | 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 fingertip force sensor. LHC controls joint angles and velocities of the fingers in the prosthetic hand. Fingers in the prosthetic hand emulate the dynamic constraints of human hand fingers. The joint angle trajectories and velocity profiles of the prosthetic hand finger are in close approximation to those of the human finger |
| first_indexed | 2024-03-09T09:00:55Z |
| format | Article |
| id | doaj.art-213f2b8186a44fbcb783d3cabea35761 |
| institution | Directory Open Access Journal |
| issn | 2081-4836 |
| language | English |
| last_indexed | 2024-03-09T09:00:55Z |
| publishDate | 2013-09-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Paladyn |
| spelling | doaj.art-213f2b8186a44fbcb783d3cabea357612023-12-02T11:31:27ZengDe GruyterPaladyn2081-48362013-09-01411910.2478/pjbr-2013-0001A Two Layered Control Architecture for Prosthetic GraspingKakoty Nayan M.0Hazarika Shyamanta M.1School of Engineering Tezpur University Tezpur, INDIASchool of Engineering Tezpur University Tezpur, INDIAThis 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 fingertip force sensor. LHC controls joint angles and velocities of the fingers in the prosthetic hand. Fingers in the prosthetic hand emulate the dynamic constraints of human hand fingers. The joint angle trajectories and velocity profiles of the prosthetic hand finger are in close approximation to those of the human fingerhttps://doi.org/10.2478/pjbr-2013-0001superior hand controllocal hand controldynamic constraints |
| spellingShingle | Kakoty Nayan M. Hazarika Shyamanta M. A Two Layered Control Architecture for Prosthetic Grasping Paladyn superior hand control local hand control dynamic constraints |
| title | A Two Layered Control Architecture for Prosthetic Grasping |
| title_full | A Two Layered Control Architecture for Prosthetic Grasping |
| title_fullStr | A Two Layered Control Architecture for Prosthetic Grasping |
| title_full_unstemmed | A Two Layered Control Architecture for Prosthetic Grasping |
| title_short | A Two Layered Control Architecture for Prosthetic Grasping |
| title_sort | two layered control architecture for prosthetic grasping |
| topic | superior hand control local hand control dynamic constraints |
| url | https://doi.org/10.2478/pjbr-2013-0001 |
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