Design and Implementation of Robust Adaptive Synergetic Control for Prosthetic Finger Systems

Area of Science:

• Biomedical Engineering
• Robotics
• Control Systems

Background:

• Prosthetic fingers aim to restore grip and natural movement for amputees.
• Current prosthetic control systems face challenges in precision, stability, and minimizing chattering.
• There is a need for advanced control solutions for enhanced prosthetic functionality.

Purpose of the Study:

• To evaluate the effectiveness of adaptive synergetic control for prosthetic finger applications.
• To compare adaptive synergetic control with adaptive sliding mode control in managing prosthetic finger movement.
• To assess the robustness and stability of adaptive synergetic control under system uncertainties.

Main Methods:

• Adaptive synergetic control algorithm implementation.
• Comparative analysis of adaptive synergetic control and adaptive sliding mode control.
• Performance evaluation through angular position tracking and robustness tests under varying system uncertainties (25%-90%).

Main Results:

• Adaptive synergetic control achieved desired trajectories 19% faster than adaptive sliding mode control.
• Adaptive synergetic control demonstrated superior tracking with minimal steady-state error and smoother control.
• The adaptive synergetic control method maintained accurate angular positions and velocities despite significant system uncertainties.

Conclusions:

• Adaptive synergetic control provides precise, stable, and robust performance for prosthetic finger control.
• The adaptive synergetic control system effectively compensates for system uncertainties, showing adaptive torque responses.
• This study highlights adaptive synergetic control as a promising solution for advanced prosthetic devices.