Abstract

The paper addresses feedback control of actuated prostheses based on the Stewart platform parallel mechanism. In such a problem it is essential to apply a feasible numerical method to determine in real time the solution of the forward kinematics, which is highly nonlinear and characterized by analytical indetermination. In this paper, the forward kinematics problem for a human elbow hydraulic prosthesis developed by the research group of Polytechnic of Bari is solved using artificial neural networks as an effective and simple method to obtain in real time the solution of the problem while limiting the computational effort. We show the effectiveness of the technique by designing a PID controller that governs the arm motion thanks to the provided neural computation of the forward kinematics. © 2014 Elsevier B.V.

Autore Pugliese

• Bevilacqua Vitoantonio , Dotoli Mariagrazia , Foglia Mario

Tutti gli autori

• Bevilacqua V , Dotoli M , Foglia M , Acciani F , Tattoli G , Valori M

Titolo volume/Rivista

NEUROCOMPUTING

Anno di pubblicazione

2014

ISSN

0925-2312

ISBN

Non Disponibile

Numero di citazioni Wos

Nessuna citazione

Ultimo Aggiornamento Citazioni

Non Disponibile

Numero di citazioni Scopus

3

Ultimo Aggiornamento Citazioni

2017-04-22 03:20:59

Settori ERC

Non Disponibile

Codici ASJC

Non Disponibile