New Robust Adaptive Control Algorithm For Underactuated Prosthetic Hand System In The Presence Of Unexpected Friction Faults

Kamarudin, Muhammad Nizam and Mohd Aras, Mohd Shahrieel and Ghazali, Rozaimi and Jaafar, Hazriq Izzuan (2018) New Robust Adaptive Control Algorithm For Underactuated Prosthetic Hand System In The Presence Of Unexpected Friction Faults. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Prosthetic hand control system becomes more complicated due to numbers of motors,gears and linkage cables are required to drive all the fingers that would cause unexpected friction faults appear within the system.The major problems related to the prosthetic device are inadequate functionality,lack of intuitive control and insufficient feedback due to lack of robust capability to the disturbance such as friction during ongoing operation.The proposed method in this research enhances the adaptability and robustness capability of underactuated prosthetic hand control.The objectives of this study are to formulate a robust control algorithm for asymptotic trajectory planning of the underactuated prosthetic hand.Then this study aims to design an adaptation law in the robust algorithm such that the adaptability towards unexpected frictions due to uneven objects can be guaranteed.The study begins with mathematical modelling of the underactuated prosthetic hand.Afterwards,the control design is formulated.In the result, the evaluation is presented in term of stability and performance robustness towards the system.The proposed robust adaptive controller method achieves the reduction of cost,guarantees the minimal control effort and minimize the effect of the friction faults to the system.

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