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Hierarchically intelligent control of a bionic arm

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2 Author(s)
Saridis, G.N. ; Purdue University, West Lafayette, Indiana ; Stephanou, H.E.

A shoulder-disarticulation prosthesis with seven degrees of freedom is formulated as a decision process accepting fuzzy commands from the human nervous system. The problem is decomposed into a functional hierarchy of three levels associated with organization, coordination, and Self-Organizing control, respectively. The highest level transforms a complex command into a sequence of elementary motions. A fuzzy automaton in the middle level coordinates the action of the lowest level controllers which apply direct control inputs to the nonlinear plant.

Published in:

Decision and Control including the 14th Symposium on Adaptive Processes, 1975 IEEE Conference on

Date of Conference:

10-12 Dec. 1975