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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.
Decision and Control including the 14th Symposium on Adaptive Processes, 1975 IEEE Conference on (Volume:14 )
Date of Conference: Dec. 1975