Adaptive backstepping position control of pneumatic anthropomorphic robotic hand

• Main Authors: Farag, Mohannad, Zainul Azlan, Norsinnira
• Format: Article
• Language: English; English
• Published: Elsevier Ltd. 2015
• Subjects: TJ Mechanical engineering and machinery; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://irep.iium.edu.my/47732/1/adaptive_backstepping_position_7.pdf; http://irep.iium.edu.my/47732/4/47732_Adaptive%20backstepping%20position%20control%20of%20pneumatic_Scopus.pdf; http://irep.iium.edu.my/47732/; http://www.sciencedirect.com/science/article/pii/S1877050915038351

This paper presents a nonlinear adaptive backstepping algorithm for position control of an anthropomorphic robotic hand. The contraction force of PAM actuator has been modeled based on an empirical approach and the overall finger is represented as a nonlinear second order system, taking into account...