Linear Controller Synthesis for Master System using Extended Physiological Proprioception in Upper-Limb Prosthesis

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.