{"title":"Linear Controller Synthesis for Master System using Extended Physiological Proprioception in Upper-Limb Prosthesis","authors":"K. Iyer, N. Manjarekar","doi":"10.1109/ICSC47195.2019.8950611","DOIUrl":null,"url":null,"abstract":"A Linear Controller is proposed for Master system in Upper-Limb Prosthesis using Extended Physiological Proprioception (EPP). The implemented design aims to provide fair tracking for the Master-Slave system. The control law is designed using a novel, Single-motor Master system using PID for different values of design parameters such as settling time and peak overshoot. A second order of system is used for the control synthesis. Simulation results show that control law works satisfactory, even in presence of non-linear friction due to lead-screw mechanism. A further comparison of simulation results between Single and Double motor Master system shows that Single Master scheme is superior in terms of energy consumption and torque requirement.","PeriodicalId":162197,"journal":{"name":"2019 8th International Conference on Systems and Control (ICSC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 8th International Conference on Systems and Control (ICSC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSC47195.2019.8950611","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
A Linear Controller is proposed for Master system in Upper-Limb Prosthesis using Extended Physiological Proprioception (EPP). The implemented design aims to provide fair tracking for the Master-Slave system. The control law is designed using a novel, Single-motor Master system using PID for different values of design parameters such as settling time and peak overshoot. A second order of system is used for the control synthesis. Simulation results show that control law works satisfactory, even in presence of non-linear friction due to lead-screw mechanism. A further comparison of simulation results between Single and Double motor Master system shows that Single Master scheme is superior in terms of energy consumption and torque requirement.