Research Article
Non-linear Control Applied to a 3D Printed Hand
@INPROCEEDINGS{10.1007/978-3-030-76063-2_11, author={Sofiane Ibrahim Benchabane and Nadia Saadia and Amar Ramdane-Cherif}, title={Non-linear Control Applied to a 3D Printed Hand}, proceedings={Science and Technologies for Smart Cities. 6th EAI International Conference, SmartCity360°, Virtual Event, December 2-4, 2020, Proceedings}, proceedings_a={SMARTCITY}, year={2021}, month={5}, keywords={Prosthetic control Sliding mode control Non-linear control}, doi={10.1007/978-3-030-76063-2_11} }- Sofiane Ibrahim Benchabane
Nadia Saadia
Amar Ramdane-Cherif
Year: 2021
Non-linear Control Applied to a 3D Printed Hand
SMARTCITY
Springer
DOI: 10.1007/978-3-030-76063-2_11
Abstract
The dynamics of a prosthesis is an important parameter to consider in order to allow efficient use. In fact, the prosthesis should perform the desired task with enough precision under a controlled kinematics. To this aim, it is necessary to set up a control law which guarantees the operating of the structure according to a pre-established specification. A prosthesis like any mechatronic structure is a complex and dynamic system, based on parameters which can evolve as a function of interactions, physical conditions or time, for this it is necessary to use a robust control algorithm to address this issue. In this work we present a sliding mode control algorithm applied to an anthropomorphic prosthesis printed in 3D at the LRPE/LISV laboratories. The control structure used enables to overcome the modelling uncertainties and parametric variations of the mechatronic system such as the coefficients of friction in the joints and the coefficient of elasticity of cable-pull.
