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Although among designs of prosthetics there have been some successes in the design of functional robotic implants, there remain many issues and challenges concerned with the failure to meet the 'ideal' requirements of a satisfactory prosthetic. These 'ideals' require the device to be easy to control, comfortable to wear, and cosmetically pleasing. Because(More)
A chronological overview of the applications of control theory to prosthetic hand is presented. The overview focuses on hard computing or control techniques such as multivariable feedback, optimal, nonlinear, adaptive and robust and soft computing or control techniques such as artificial intelligence, neural networks, fuzzy logic, genetic algorithms and on(More)
This paper presents a hybrid of a soft computing technique of adaptive neuro-fuzzy inference system (ANFIS) and a hard computing technique of adaptive control for a two-dimensional movement of a prosthetic hand with a thumb and index finger. In particular, ANFIS is used for inverse kinematics, and the adaptive control is used for linearized dynamics to(More)
In this paper a partially observed nonlinear stochastic control with exponential running cost is considered. Explicit solutions for evaluating expectations of exponential functions are found when the control is assumed to be constant. This enables the above problems to be expressed in terms of observable quantities, while the separation principle applies.(More)
Hard computing based optimization algorithms usually require a lot of computational resources and generally do not have the ability to arrive at the global optimum solution. Soft computing algorithms on the other hand negate these deficiencies, by allowing for reduced computational loads and the ability to find global optimal solutions, even for complex(More)
Skeletal muscle force can be estimated using surface electromyographic (sEMG) signals. Usually, the surface location for the sensors is near the respective muscle motor unit points. Skeletal muscles generate a spatial EMG signal, which causes cross talk between different sEMG signal sensors. In this study, an array of three sEMG sensors is used to capture(More)
— In this paper, an online technique for finite-horizon nonlinear stochastic tracking problems is presented. The idea of the proposed technique is to integrate the Kalman filter algorithm and the State Dependent Riccati Equation (SDRE) technique. Unlike the ordinary methods which deal with the linearized system, this technique will estimate the unmeasured(More)
Extracting or estimating skeletal hand/finger forces using surface electro myographic (sEMG) signals poses many challenges due to cross-talk, noise, and a temporal and spatially modulated signal characteristics. Normal sEMG measurements are based on single sensor data. In this paper, array sensors are used along with a proposed sensor fusion scheme that(More)