Adaptive Control of a Flexibly Jointed Arm Prosthesis Using Advanced Control Theory Methods

Francisco Sangoquiza; Andrés Benavides; Stalin Bolaños; Cristian Cuji

doi:10.1007/978-3-031-87065-1_38

Adaptive Control of a Flexibly Jointed Arm Prosthesis Using Advanced Control Theory Methods

Francisco Sangoquiza, Andrés Benavides, Stalin Bolaños, Cristian Cuji

Research Group in Smart Electrical Networks (GIREI)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This research presents the control of an arm prosthesis with a single flexible joint, modeled by a system of differential equations, and represented in state space. Using advanced controllers such as PID, LQR and H∞, we seek to optimize the movement and the interaction with the environment, guaranteeing precision and smoothness. The model is validated through MATLAB simulations and analyzed by means of transfer functions and responses in the frequency domain.

Original language	English
Title of host publication	Systems, Smart Technologies, and Innovation for Society - Proceedings of CITIS 2024
Editors	Esteban Mauricio Inga Ortega, Vladimir Espartaco Robles-Bykbaev, Nuria García Herranz, Eduardo Gallego Diaz
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	417-426
Number of pages	10
ISBN (Print)	9783031870644
DOIs	https://doi.org/10.1007/978-3-031-87065-1_38
State	Published - 2025
Event	10th International Conference on Science, Technology and Innovation for Society, CITIS 2024 - Guayaquil, Ecuador Duration: 18 Jul 2024 → 19 Jul 2024

Publication series

Name	Lecture Notes in Networks and Systems
Volume	1331 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	10th International Conference on Science, Technology and Innovation for Society, CITIS 2024
Country/Territory	Ecuador
City	Guayaquil
Period	18/07/24 → 19/07/24

Bibliographical note

Publisher Copyright:
© The Author(s) 2025.

Keywords

Control
Flexible Articulation
Transfer Function

Access to Document

10.1007/978-3-031-87065-1_38

Cite this

Sangoquiza, F., Benavides, A., Bolaños, S., & Cuji, C. (2025). Adaptive Control of a Flexibly Jointed Arm Prosthesis Using Advanced Control Theory Methods. In E. M. Inga Ortega, V. E. Robles-Bykbaev, N. García Herranz, & E. Gallego Diaz (Eds.), Systems, Smart Technologies, and Innovation for Society - Proceedings of CITIS 2024 (pp. 417-426). (Lecture Notes in Networks and Systems; Vol. 1331 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-87065-1_38

Sangoquiza, Francisco ; Benavides, Andrés ; Bolaños, Stalin et al. / Adaptive Control of a Flexibly Jointed Arm Prosthesis Using Advanced Control Theory Methods. Systems, Smart Technologies, and Innovation for Society - Proceedings of CITIS 2024. editor / Esteban Mauricio Inga Ortega ; Vladimir Espartaco Robles-Bykbaev ; Nuria García Herranz ; Eduardo Gallego Diaz. Springer Science and Business Media Deutschland GmbH, 2025. pp. 417-426 (Lecture Notes in Networks and Systems).

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abstract = "This research presents the control of an arm prosthesis with a single flexible joint, modeled by a system of differential equations, and represented in state space. Using advanced controllers such as PID, LQR and H∞, we seek to optimize the movement and the interaction with the environment, guaranteeing precision and smoothness. The model is validated through MATLAB simulations and analyzed by means of transfer functions and responses in the frequency domain.",

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Sangoquiza, F, Benavides, A, Bolaños, S & Cuji, C 2025, Adaptive Control of a Flexibly Jointed Arm Prosthesis Using Advanced Control Theory Methods. in EM Inga Ortega, VE Robles-Bykbaev, N García Herranz & E Gallego Diaz (eds), Systems, Smart Technologies, and Innovation for Society - Proceedings of CITIS 2024. Lecture Notes in Networks and Systems, vol. 1331 LNNS, Springer Science and Business Media Deutschland GmbH, pp. 417-426, 10th International Conference on Science, Technology and Innovation for Society, CITIS 2024, Guayaquil, Ecuador, 18/07/24. https://doi.org/10.1007/978-3-031-87065-1_38

Adaptive Control of a Flexibly Jointed Arm Prosthesis Using Advanced Control Theory Methods. / Sangoquiza, Francisco; Benavides, Andrés; Bolaños, Stalin et al.
Systems, Smart Technologies, and Innovation for Society - Proceedings of CITIS 2024. ed. / Esteban Mauricio Inga Ortega; Vladimir Espartaco Robles-Bykbaev; Nuria García Herranz; Eduardo Gallego Diaz. Springer Science and Business Media Deutschland GmbH, 2025. p. 417-426 (Lecture Notes in Networks and Systems; Vol. 1331 LNNS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Sangoquiza F, Benavides A, Bolaños S, Cuji C. Adaptive Control of a Flexibly Jointed Arm Prosthesis Using Advanced Control Theory Methods. In Inga Ortega EM, Robles-Bykbaev VE, García Herranz N, Gallego Diaz E, editors, Systems, Smart Technologies, and Innovation for Society - Proceedings of CITIS 2024. Springer Science and Business Media Deutschland GmbH. 2025. p. 417-426. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-031-87065-1_38

Adaptive Control of a Flexibly Jointed Arm Prosthesis Using Advanced Control Theory Methods

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

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