Backstepping and sliding mode control hybridized for a prosthetic hand

Area of Science:

• Robotics
• Biomedical Engineering
• Control Systems

Background:

• Traditional prosthetic hand control schemes often lack the dexterity required for complex tasks.
• Developing advanced control strategies is crucial for improving the functionality and usability of prosthetic devices.

Purpose of the Study:

• To experimentally compare open-loop and force controllers with three novel robust parallel force-velocity controllers for prosthetic hands.
• To evaluate the effectiveness of sliding mode, backstepping, and hybrid sliding mode-backstepping (HSMBS) controllers in improving prosthetic hand control.

Main Methods:

• Developed three robust parallel force-velocity controllers: sliding mode, backstepping, and HSMBS.
• Tested controllers with ten able-bodied subjects using a myoelectrically controlled prosthesis.
• Conducted benchtop experiments and gathered quantitative and qualitative evaluations from test subjects.

Main Results:

• All three robust controllers showed statistically significant improvements over linear control schemes.
• Robust controllers facilitated easier manipulation of delicate objects by human operators.
• The HSMBS controller was identified as the superior choice for enhancing powered prosthetic hand control.

Conclusions:

• Robust parallel force-velocity controllers offer a significant advancement in prosthetic hand technology.
• The HSMBS controller provides the most effective solution for improving dexterity and user experience in powered prosthetic hands.
• Further research into advanced control strategies can lead to more intuitive and capable prosthetic limbs.