Authors:
Viorel Stoian
1
;
Mircea Ivanescu
1
;
Elena Stoian
1
and
Ionela Iancu
2
Affiliations:
1
University of Craiova, Romania
;
2
University of Medicine and Pharmacy of Craiova, Romania
Keyword(s):
Hand prosthesis, Hyper-redundant structure, Distributed control, Dynamic model, Fuzzy controller.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
This paper presents a control method for a medical glove with intelligent actuators for a hand with disabilities. The medical glove has got on outer superior face, an intelligent actuator to every finger, which helps it to bend and to grasp different objects and on outer inferior face a force distributed sensor system. The dynamic model of the outer superior face finger is determined and an approximate model is proposed. The two-level hierarchical control is adopted. The upper level coordinator gathers all the necessary information to resolve the distribution force. Then, the lower-level local control problem is treated as an open-chain hyper-redundant structure control problem. The fuzzy rules are established and a fuzzy controller is proposed.