Tuesday , May 28 2024

Model-Free Control of Finger Dynamics in Prosthetic Hand Myoelectric-based Control Systems

Radu-Emil PRECUP1*, Raul-Cristian ROMAN1, Teodor-Adrian TEBAN1,
Adriana ALBU1, Emil M. PETRIU2, Claudiu POZNA3,4

1 Department of Automation and Applied Informatics, Politehnica University of Timișoara,
2 Vasile Pârvan Avenue, 300223 Timișoara, Romania
radu.precup@aut.upt.ro (*Corresponding author), raul.roman@aut.upt.ro,
adrian.teban@student.upt.ro, adriana.albu@aut.upt.ro
2 School of Electrical Engineering and Computer Science, University of Ottawa,
Ottawa, ON K1N 6N5, Canada
3 Department of Informatics, Széchenyi István University, Egyetem tér 1, 9026 Győr, Hungary
4 Department of Automation and Information Technology, Transilvania University of Brașov,
5 Mihai Viteazu Street, building no. V, 3rd floor, 500174 Brașov, Romania

Abstract: This paper proposes an approach to the tuning of model-free controllers for the midcarpal joint angles, which are important finger angles that ensure the desired finger dynamics in prosthetic hand myoelectric-based control systems. The process in these control systems is characterized by fuzzy models that operate with myoelectric signals obtained from eight myoelectric sensors and past inputs and/or outputs, where the controlled outputs are five finger angles. Since the fuzzy models exhibit very good performance as shown in authors’ recent papers that produced evolving fuzzy models, they are used to simulate the process behaviour. The Multi Input-Multi Output (MIMO) control system structure consists of five separate Single Input-Single Output control loops with the most simple model-free controllers represented by intelligent Proportional (iP) controllers, separately designed and tuned for each finger. Digital simulation results are included to suggestively illustrate the very good performance of the control systems with iP controllers. The MIMO control system performance is compared with that of the same system but with Proportional-Integral controllers, which are optimally tuned in a model-based manner by a metaheuristic Grey Wolf Optimizer (GWO) algorithm. The fair comparison is ensured by the optimal tuning of the free parameters of iP controllers in a model-based manner using GWO.

Keywords: Model-free control, Myoelectric-based control, Fuzzy models, Intelligent Proportional controllers, Proportional-Integral controllers.


Radu-Emil PRECUP, Raul-Cristian ROMAN, Teodor-Adrian TEBAN, Adriana ALBU, Emil M. PETRIU, Claudiu POZNA, Model-Free Control of Finger Dynamics in Prosthetic Hand Myoelectric-based Control Systems, Studies in Informatics and Control, ISSN 1220-1766, vol. 29(4), pp. 399-410, 2020. https://doi.org/10.24846/v29i4y202002