The paper addresses closed loop control of a hydraulic prosthesis for human elbow. In such a problem it is essential to obtain quick results of simulation in order to appreciate the dynamic behavior of the entire system. In this paper, the forward kinematics problem for a hydraulic prosthesis for human arm 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 without an excessive computational effort. We show the effectiveness of the method by designing a PID closed loop control that effectively controls the arm thanks to the provided neural computation of the forward kinematics.
|Titolo:||Using Artificial Neural Networks for Closed Loop Control of a Hydraulic Prosthesis for a Human Elbow|
|Data di pubblicazione:||2012|
|Appare nelle tipologie:||4.1 Contributo in Atti di convegno|