Disturbance observer–based fuzzy control for prosthetic hands

Abstract

There exists uncertainties and environmental disturbances, such as mechanism friction and filling water into cups, etc., when a prosthetic hand grasps an object. Those disturbance can not be obtained easily because of the lack of sensors. Thus, a disturbance observe-based fuzzy control is presented for prosthetic hands. The environmental disturbance can be observed by using the proposed disturbance observer. The performance of the observer is analyzed. A fuzzy logical controller is then adopted to track the desired force. Finally, the proposed method is applied to controlling a single-freedom prosthetic hand. The experimental results show that the proposed method is effective.