Backstepping and Sliding Mode Control Hybridized for a Prosthetic Hand

Open loop and force controllers are compared experimentally with three robust parallel force-velocity controllers that are developed for a prosthetic hand. Robust sliding mode, backstepping, and hybrid sliding mode-backstepping (HSMBS) parallel force-velocity controllers are tested by ten able-bodied subjects. Results obtained with a myoelectrically controlled prosthesis indicate that all three robust controllers offer a statistically significant improvement over linear hand prosthesis control schemes. The robust controllers enable the human operators to more easily manipulate a delicate object. Bench top experiments combined with quantitative and qualitative evaluations from ten test subjects reveal the HSMBS controller to be the best choice to improve control of powered prosthetic hands.

[1]  Dudley S. Childress,et al.  Powered Limb Prostheses: Their Clinical Significance , 1973 .

[2]  N Hogan,et al.  A review of the methods of processing EMG for use as a proportional control signal. , 1976, Biomedical engineering.

[3]  I D Swain,et al.  An adaptive control system for a complete hand/arm prosthesis. , 1980, Journal of biomedical engineering.

[4]  Richard T. Johnson,et al.  Development of the Utah Artificial Arm , 1982, IEEE Transactions on Biomedical Engineering.

[5]  Jean-Jacques E. Slotine,et al.  Tracking control of nonlinear systems using sliding surfaces , 1983 .

[6]  Jean-Jacques E. Slotine,et al.  Sliding controller design for non-linear systems , 1984 .

[7]  N. Hogan.  Adaptive control of mechanical impedance by coactivation of antagonist muscles , 1984 .

[8]  S C Jacobsen,et al.  Extended physiologic taction: design and evaluation of a proportional force feedback system. , 1989, Journal of rehabilitation research and development.

[9]  F. Netter.  Atlas of Human Anatomy , 1967 .

[10]  C.J. Abul-Haj,et al.  Functional assessment of control systems for cybernetic elbow prostheses. II. Application of the technique , 1990, IEEE Transactions on Biomedical Engineering.

[11]  C.J. Abul-Haj,et al.  Functional assessment of control systems for cybernetic elbow prostheses. I. Description of the technique , 1990, IEEE Transactions on Biomedical Engineering.

[12]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[13]  H. H. Sears,et al.  PROPORTIONAL MYOELECTRIC HAND CONTROL: AN EVALUATION , 1991, American journal of physical medicine & rehabilitation.

[14]  S. Meek,et al.  Comparison of signal-to-noise ratio of myoelectric filters for prosthesis control. , 1992, Journal of rehabilitation research and development.

[15]  Darren M. Dawson,et al.  Integrator backstepping control of a brush DC motor turning a robotic load , 1994, IEEE Trans. Control. Syst. Technol..

[16]  Y. Mitani,et al.  A piezoelectric force/force-derivative sensor for robotic applications , 1995, SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers.

[17]  Bruno Siciliano,et al.  Modeling and Control of Robot Manipulators , 1995 .

[18]  John M. Hollerbach,et al.  A nonlinear PD controller for force and contact transient control , 1995 .

[19]  N. Hogan,et al.  Multiple site electromyograph amplitude estimation , 1995, IEEE Transactions on Biomedical Engineering.

[20]  D. Atkins,et al.  Epidemiologic Overview of Individuals with Upper-Limb Loss and Their Reported Research Priorities , 1996 .

[21]  R. Johansson,et al.  Control of forces applied by individual fingers engaged in restraint of an active object. , 1997, Journal of neurophysiology.

[22]  K. J. Cole,et al.  Wrist action affects precision grip force. , 1997, Journal of neurophysiology.

[23]  R. Johansson,et al.  Mechanisms for force adjustments to unpredictable frictional changes at individual digits during two-fingered manipulation. , 1998, Journal of neurophysiology.

[24]  M. Latash.  Neurophysiological basis of movement , 1998 .

[25]  Charles S. Mandell.  ATLAS OF HUMAN ANATOMY (2ND ED.) , 1999 .

[26]  Eunjeong Lee.  Force and impact control for robot manipulators using time delay , 1999, ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465).

[27]  R. Johansson,et al.  Control of grasp stability in humans under different frictional conditions during multidigit manipulation. , 1999, Journal of neurophysiology.

[28]  R. Johansson,et al.  Encoding of Direction of Fingertip Forces by Human Tactile Afferents , 2001, The Journal of Neuroscience.

[29]  Paolo Dario,et al.  Design and development of an underactuated prosthetic hand , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[30]  C M Light,et al.  Intelligent multifunction myoelectric control of hand prostheses , 2002, Journal of medical engineering & technology.

[31]  Philip R. Troyk,et al.  Implantable myoelectric sensors (IMES) for upper-extremity prosthesis control- preliminary work , 2003, Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE Cat. No.03CH37439).

[32]  T. Lejeune,et al.  Importance of cutaneous feedback in maintaining a secure grip during manipulation of hand-held objects. , 2003, Journal of neurophysiology.

[33]  Bruno Siciliano,et al.  Parallel force/position control of a novel biomechatronic hand prosthesis , 2003, Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).

[34]  Fan Gao,et al.  The principle of superposition in human prehension , 2004, Robotica.

[35]  A. Kargov,et al.  Progress in the development of a multifunctional hand prosthesis , 2004, The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[36]  Ashok Muzumdar,et al.  Powered Upper Limb Prostheses , 2004, Springer Berlin Heidelberg.

[37]  R. Riso,et al.  PERIPHERAL NERVE RECORDING ELECTRODES AND TECHNIQUES , 2004 .

[38]  Thierry Keller,et al.  Sliding mode closed-loop control of FES controlling the shank movement , 2004, IEEE Transactions on Biomedical Engineering.

[39]  G.S. Dhillon,et al.  Direct neural sensory feedback and control of a prosthetic arm , 2005, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[40]  Dudley S Childress,et al.  The effects of static friction and backlash on extended physiological proprioception control of a powered prosthesis. , 2005, Journal of rehabilitation research and development.

[41]  M. Yoshida,et al.  Compliant grasp in a myoelectric hand prosthesis , 2005, IEEE Engineering in Medicine and Biology Magazine.

[42]  A. Kargov,et al.  Design and Evaluation of a Low-Cost Force Feedback System for Myoelectric Prosthetic Hands , 2006 .

[43]  Maria Chiara Carrozza,et al.  Bio-inspired approach for the design and characterization of a tactile sensory system for a cybernetic prosthetic hand , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[44]  Hong Liu,et al.  A Five-fingered Underactuated Prosthetic Hand System , 2006, 2006 International Conference on Mechatronics and Automation.

[45]  Lloyd L. Salisbury,et al.  A mechanical hand with automatic proportional control of prehension , 1967, Medical and biological engineering.

[46]  P. Kyberd,et al.  Survey of Upper-Extremity Prosthesis Users in Sweden and the United Kingdom , 2007 .

[47]  Elaine Biddiss,et al.  Consumer design priorities for upper limb prosthetics , 2007, Disability and rehabilitation. Assistive technology.

[48]  J. Soechting,et al.  Multidigit control of contact forces during transport of handheld objects. , 2007, Journal of neurophysiology.

[49]  Sanford G. Meek,et al.  Improved Grasp Force Sensitivity for Prosthetic Hands Through Force-Derivative Feedback , 2008, IEEE Transactions on Biomedical Engineering.

[50]  Hisashi Kawai,et al.  Investigation of Optimum Electrode Locations by Using an Automatized Surface Electromyography Analysis Technique , 2008, IEEE Transactions on Biomedical Engineering.

[51]  Mark A. Minor,et al.  Hybrid Force–Velocity Sliding Mode Control of a Prosthetic Hand , 2008, IEEE Transactions on Biomedical Engineering.

[52]  Sanford G. Meek,et al.  Adaptive object slip prevention for prosthetic hands through proportional-derivative shear force feedback , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.