Adaptive Reflex Control for an Artificial Hand

Authors

Michele Flogheraiter, Politecnico di Milano
Giuseppina Gini, Politecnico di Milano
Marek Perkowski, Portland State UniversityFollow
Mikhail Pivtoraiko, Portland State University

Document Type

Pre-Print

Publication Date

9-2003

Subjects

Robots -- Control systems, Artificial hands -- Design and construction, Androids

Abstract

In this paper we illustrate the properties and the morphology of a human like neural reflex controller, used to set the stiffness and joint positions of an anthropomorphic artificial hand. In particular we explain, by simulations results, its ability to emulate the myotatic human reflex, and its capacity to learn in real time the best control strategy. We also present the dynamic model of the joints and of the artificial muscles used in Blackfingers, our artificial hand.

Description

Paper presented at the 7th IFAC Symposium on Robot Control, SYROCO 2003, Wroclaw, Poland, 2003, and included in its proceedings.

Persistent Identifier

http://archives.pdx.edu/ds/psu/12766

Citation Details

Folgheraiter, Michele, Giuseppina Gini, Marek Perkowski, and Mikhail Pivtoraiko. "Adaptive reflex control for an artificial hand." In Proc., SYROCO. 2003.