Abstract
An adaptive fuzzy proportional-integral-derivative (PID) force control strategy for a prosthetic hand is presented. The classical PID controller is also applied on the prosthetic hand as comparison. The parameters of PID controller are firstly tuned by Cut and Try method. Then a fuzzy logic system is used to adjust those parameters on line. Real-time force control experiments are realized on LabVIEW and PXI (PCI eXtensions for Instrumentation) real-time (RT) platforms. A rigid object and a compliant object are grasped by the prosthesis respectively to test the performance of controllers. Experimental results indicate that the adaptive fuzzy PID force controller is more effective than PID controller.
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