Modulation of grasping force in prosthetic hands using neural network-based predictive control

Abstract

This chapter describes the implementation of a neural network-based predictive control system for driving a prosthetic hand. Nonlinearities associated with the electromechanical aspects of prosthetic devices present great challenges for precise control of this type of device. Model-based controllers may overcome this issue. Moreover, given the complexity of these kinds of electromechanical systems, neural network-based modeling arises as a good ft for modeling the fngers’ dynamics. The results of simulations mimicking potential situations encountered during activities of daily living demonstrate the feasibility of this technique.