Fusion of Hard and Soft Control Strategies for the Robotic Hand

 
 
Wiley-IEEE Press
  • erschienen am 31. August 2017
  • |
  • 256 Seiten
 
E-Book | PDF mit Adobe DRM | Systemvoraussetzungen
978-1-119-27360-8 (ISBN)
 
An in-depth review of hybrid control techniques for smart prosthetic hand technology by two of the world's pioneering experts in the field
Long considered the stuff of science fiction, a prosthetic hand capable of fully replicating all of that appendage's various functions is closer to becoming reality than ever before. This book provides a comprehensive report on exciting recent developments in hybrid control techniques--one of the most crucial hurdles to be overcome in creating smart prosthetic hands.
Coauthored by two of the world's foremost pioneering experts in the field, Fusion of Hard and Soft Control Strategies for Robotic Hand treats robotic hands for multiple applications. Itbegins withan overview of advances in main control techniques that have been made over the past decade before addressing the military context for affordable robotic hand technology with tactile and/or proprioceptive feedback for hand amputees. Kinematics, homogeneous transformations, inverse and differential kinematics, trajectory planning, and dynamic models of two-link thumb and three-link index finger are discussed in detail. The remainder of the book is devoted to the most promising soft computing techniques, particle swarm optimization techniques, and strategies combining hard and soft controls.
In addition, the book:
* Includes a report on exciting new developments in prosthetic/robotic hand technology, with an emphasis on the fusion of hard and soft control strategies
* Covers both prosthetic and non-prosthetic hand designs for everything from routine human operations, robotic surgery, and repair and maintenance, to hazardous materials handling, space applications, explosives disposal, and more
* Provides a comprehensive overview of five-fingered robotic hand technology kinematics, dynamics, and control
* Features detailed coverage of important recent developments in neuroprosthetics
Fusion of Hard and Soft Control Strategies for Robotic Hand is a must-read for researchers in control engineering, robotic engineering, biomedical sciences and engineering, and rehabilitation engineering.
1. Auflage
  • Englisch
  • Somerset
  • |
  • USA
John Wiley & Sons Inc
  • Für Beruf und Forschung
  • 20,89 MB
978-1-119-27360-8 (9781119273608)
1119273609 (1119273609)
weitere Ausgaben werden ermittelt
CHENG-HUNG CHEN, PhD², IEEE Senior Member, is an Applications Engineer at Synova USA in Secaucus, New Jersey, which is Micro-Machining Center of Laser MicroJet¯ technology.He performs Laser Micro-machining tests to meet customer expectations in industry markets of aerospace, medical healthcare, diamond & jewelry, energy, tool manufacturing, and semiconductor. He holds doctorates in Engineering and Applied Science as well as in the Biological Sciences.
DESINENI SUBBARAM NAIDU, PhD, Life Fellow IEEE, is the Minnesota Power Jack F. Rowe Endowed Chair and Professor of Electrical Engineering at the University of Minnesota, Duluth, USA. He pioneered several notable interdisciplinary research projects including Smart Prosthetic Hand Technology at the Measurement and Control Engineering Research Center (MCERC), Idaho State University, Pocatello, Idaho, USA.
  • FUSION OF HARD AND SOFT CONTROL STRATEGIES FOR THE ROBOTIC HAND
  • Contents
  • List of Tables
  • List of Figures
  • 1 Introduction
  • 1.1 Relevance to Military
  • 1.2 Control Strategies
  • 1.2.1 Prosthetic/Robotic Hands
  • 1.2.2 Chronological Overview
  • 1.2.3 Overview of Main Control Techniques Since 2007
  • 1.2.4 Revolutionary Prosthesis
  • 1.3 Fusion of Intelligent Control Strategies
  • 1.3.1 Fusion of Hard and Soft Computing/Control Strategies
  • 1.4 Overview of Our Research
  • 1.5 Developments in Neuroprosthetics
  • 1.6 Chapter Summary
  • 2 Kinematics and Trajectory Planning
  • 2.1 Human Hand Anatomy
  • 2.2 Forward Kinematics
  • 2.2.1 Homogeneous Transformations
  • 2.2.2 Serial n Link Revolute Joint Planar Manipulator
  • 2.2.3 Two Link Thumb
  • 2.2.4 Three Link Index Finger
  • 2.2.5 Three Dimensional Five Fingered Robotic Hand
  • 2.3 Inverse Kinematics
  • 2.3.1 Two Link Thumb
  • 2.3.2 Three Link Fingers
  • 2.3.3 Fingertip Workspace
  • 2.3.3.1 Two Link Thumb and Three Link Index Finger
  • 2.3.3.2 Five Fingered Robotic Hand
  • 2.4 Differential Kinematics
  • 2.4.1 Serial Link Revolute Joint Planar Manipulator
  • 2.4.1.1 Some Properties of Rotation Matrices
  • 2.4.1.2 Rigid Body Kinematics
  • 2.4.2 Two Link Thumb
  • 2.4.3 Three Link Index Finger
  • 2.5 Trajectory Planning
  • 2.5.1 Trajectory Planning Using Cubic Polynomial
  • 2.5.2 Trajectory Planning Using Cubic Bézier Curve
  • 2.5.3 Simulation Results of Trajectory Paths
  • 3 Dynamic Models
  • 3.1 Actuators
  • 3.1.1 Electric DC Motor
  • 3.1.2 Mechanical Gear Transmission
  • 3.2 Dynamics
  • 3.3 Two Link Thumb
  • 3.4 Three Link Index Finger
  • 4 Soft Computing/Control Strategies
  • 4.1 Fuzzy Logic
  • 4.2 Neural Network
  • 4.3 Adaptive Neuro Fuzzy Inference System
  • 4.4 Tabu Search
  • 4.4.1 Tabu Concepts
  • 4.4.2 Enhanced Continuous Tabu Search
  • 4.4.2.1 Initialization of Parameters
  • 4.4.2.2 Diversification
  • 4.4.2.3 Selecting the Most Promising Area
  • 4.4.2.4 Intensification
  • 4.5 Genetic Algorithm
  • 4.5.1 Basic GA Procedures
  • 4.6 Particle Swarm Optimization
  • 4.6.1 Basic PSO Procedures and Formulations
  • 4.6.2 Five Different PSO Techniques
  • 4.6.3 Uniform Distribution and Normal Distribution
  • 4.7 Adaptive Particle Swarm Optimization
  • 4.7.1 APSO Procedures and Formulations
  • 4.7.2 Changed/Unchanged Velocity Direction
  • 4.8 Condensed Hybrid Optimization
  • 4.9 Simulation Results and Discussion
  • 4.9.1 PSO Dynamics Investigation
  • 4.9.1.1 Benchmark Problems
  • 4.9.1.2 Selection of Parameters
  • 4.9.1.3 Simulations
  • 4.9.2 APSO to Multiple Dimensional Problems
  • 4.9.3 PSO in Other Biomedical Applications
  • 4.9.3.1 Leukocyte Adhesion Molecules Modeling
  • 4.9.4 CHO to Multiple Dimensional Problems
  • 5 Fusion of Hard and Soft Control Strategies I
  • 5.1 Feedback Linearization
  • 5.1.1 State Variable Representation
  • 5.2 PD/PI/PID Controllers
  • 5.2.1 PD Controller
  • 5.2.2 PI Controller
  • 5.2.3 PID Controller
  • 5.3 Optimal Controller
  • 5.3.1 Optimal Regulation
  • 5.3.2 Linear Quadratic Optimal Control with Tracking System
  • 5.3.3 A Modified Optimal Control with Tracking System
  • 5.4 Adaptive Controller
  • 5.5 Simulation Results and Discussion
  • 5.5.1 Two Link Thumb
  • 5.5.2 Three Link Index Finger
  • 5.5.3 Three Dimensional Five Fingered Robotic Hand
  • 5.5.3.1 PID Control
  • 5.5.3.2 Optimal Control
  • 5.A Appendix: Regression Matrix
  • 6 Fusion of Hard and Soft Control Strategies II
  • 6.1 Fuzzy Logic Based PD Fusion Control Strategy
  • 6.1.1 Simulation Results and Discussion
  • 6.2 Genetic Algorithm Based PID Fusion Control Strategy
  • 6.2.1 Simulation Results and Discussion
  • 7 Conclusions and Future Work
  • 7.1 Conclusions
  • 7.2 Future Directions
  • Index
  • Epilogue
  • EULA

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