Sliding mode impedance control of a underactuated prosthetic hand

Abstract

The performance of grasping objects is affected by the uncertainties in both the dynamic model of prosthetic hand and environment stiffness. A sliding mode impedance strategy is proposed to control underactuated prosthetic hand. Firstly, a dynamics model of the underactuated prosthetic hand is obtained by using LaGrange method. Then, a control strategy is designed by combining a sliding mode and impedance controllers. Finally, the underactuated prosthetic hand with the proposed control strategy is simulated by the adaptive grasping. The simulation results show the sliding mode impedance control method is effective.