Fuzzy force control based on grasped objects stiffness of tendon-driven underactuated prosthetic hand system

Abstract

Abstract The design of an fuzzy force based on grasped objects stiffness method for tendon-driven underactuated prosthetic hand system are addressed in this study. First, a mathematical model of tendon-driven underactuated prosthetic hand is developed for force control. Next, fuzzy force based on grasped objects stiffness was discussed to improve the control performance. Finally, the proposed control strategy for underactuated prosthetic hand is simulated to six different stiffness objects. The results shown that the controller is suit for prosthetic hand grasp objects with different stiffness. The simulation results verify the effectiveness of the force control method based on grasped objects stiffness.