Open loop and force controllers are compared experimentally with three robust parallel force-velocity controllers that are developed for a prosthetic hand. Robust sliding mode, backstepping, and hybrid sliding mode-backstepping (HSMBS) parallel force-velocity controllers are tested by ten able-bodied subjects. Results obtained with a myoelectrically controlled prosthesis indicate that all three robust controllers offer a statistically significant improvement over linear hand prosthesis control schemes. The robust controllers enable the human operators to more easily manipulate a delicate object. Bench top experiments combined with quantitative and qualitative evaluations from ten test subjects reveal the HSMBS controller to be the best choice to improve control of powered prosthetic hands.
Download full-text PDF |
Source |
|---|---|
| http://dx.doi.org/10.1109/TNSRE.2008.2006212 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Quantification and profiling of urine cells by integrated cytocentrifugation and infrared spectroscopy.
Spectrochim Acta A Mol Biomol Spectrosc
January 2025
Department of Analytical Chemistry, University of Valencia, Dr. Moliner 50, 46100 Burjassot, Spain. Electronic address:
The presence of cells in urine and in particular White Blood Cells (WBCs) is often associated with Urinary Tract Infections (UTIs) and other diseases. Non-invasive screening of WBCs requires the development of cost-effective point of care diagnostic tools. Infrared (IR) spectroscopy has the potential to identify and quantify cells in urine.
View Article and Find Full Text PDFInvestigation of Sliding Mode Control in the Nonlinear Modeling of Cordless Jigsaws.
Sensors (Basel)
January 2025
Department of Electrical Engineering and Mechatronics, Faculty of Engineering, Vehicles and Mechatronics Institute, University of Debrecen, Ótemető Str. 2-4., H-4028 Debrecen, Hungary.
The aim of this paper was to reduce the current spikes in battery-powered saw motors by designing and implementing a sliding mode model-following adaptive controller. The proposed controller reduces overcurrent consumption, improves system energy efficiency, and effectively maximizes battery runtime, especially under high-load conditions. By applying nonlinear compensation techniques, the controller can ensure smooth motor operation, reduce mechanical stress, and prolong tool life.
View Article and Find Full Text PDFESO-Based Non-Singular Terminal Filtered Integral Sliding Mode Backstepping Control for Unmanned Surface Vessels.
Sensors (Basel)
January 2025
College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China.
Aiming at the control challenges faced by unmanned surface vessels (USVs) in complex environments, such as nonlinearities, parameter uncertainties, and environmental perturbations, we propose a non-singular terminal integral sliding mode control strategy based on an extended state observer (ESO). The strategy first employs a third-order linear extended state observer to estimate the total disturbances of the USV system, encompassing both external disturbances and internal nonlinearities. Subsequently, a backstepping sliding mode controller based on the Lyapunov theory is designed to generate the steering torque control commands for the USV.
View Article and Find Full Text PDFGenerating a Full Cycle of Alternative Current Using a Triboelectric Nanogenerator for Energy Harvesting.
Micromachines (Basel)
December 2024
College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China.
The triboelectric nanogenerator (TENG) has emerged as a promising technology for efficiently converting ambient mechanical energy into electrical energy. Among various designs, the disk-based rotational TENG has demonstrated significant potential, as it can continuously harvest energy in a sliding mode via a grating mechanism. However, horizontal mechanical energy is more common than rotational energy in many practical applications.
View Article and Find Full Text PDFRobust formation control of multiple aerial robotic vehicles using near neighbor cyclic deviation with time-varying disturbances.
ISA Trans
January 2025
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China; Key Laboratory of RF Circuits and systems, Ministry of Education, Hangzhou Dianzi University, Hangzhou 310018, China. Electronic address:
Cooperative formation flight of multiple aerial robotic vehicles (ARVs) is extensively adopted in emergency rescue and collaborative transport. But the time-varying complex disturbances are inevitable in the cooperative formation flight of multiple ARVs, which can affect the formation stability of multi-ARV systems. This paper investigates the robust formation control problems for multiple ARVs with time-varying disturbances.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!