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

Grupo de Investigación en Redes Eléctricas Inteligentes (GIREI)

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución de conferencia › revisión exhaustiva

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	Systems, Smart Technologies, and Innovation for Society - Proceedings of CITIS 2024
Editores	Esteban Mauricio Inga Ortega, Vladimir Espartaco Robles-Bykbaev, Nuria García Herranz, Eduardo Gallego Diaz
Editorial	Springer Science and Business Media Deutschland GmbH
Páginas	417-426
Número de páginas	10
ISBN (versión impresa)	9783031870644
DOI	https://doi.org/10.1007/978-3-031-87065-1_38
Estado	Publicada - 2025
Evento	10th International Conference on Science, Technology and Innovation for Society, CITIS 2024 - Guayaquil, Ecuador Duración: 18 jul. 2024 → 19 jul. 2024

Serie de la publicación

Nombre	Lecture Notes in Networks and Systems
Volumen	1331 LNNS
ISSN (versión impresa)	2367-3370
ISSN (versión digital)	2367-3389

Conferencia

Conferencia	10th International Conference on Science, Technology and Innovation for Society, CITIS 2024
País/Territorio	Ecuador
Ciudad	Guayaquil
Período	18/07/24 → 19/07/24

Nota bibliográfica

Publisher Copyright:
© The Author(s) 2025.

Areas de Conocimiento del CACES

417A Electrónica, automatización y sonido

Acceder al documento

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

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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. En 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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title = "Adaptive Control of a Flexibly Jointed Arm Prosthesis Using Advanced Control Theory Methods",

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.",

keywords = "Control, Flexible Articulation, Transfer Function",

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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. En 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución de conferencia › revisión exhaustiva

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AU - Bolaños, Stalin

AU - Cuji, Cristian

N1 - Publisher Copyright: © The Author(s) 2025.

PY - 2025

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N2 - 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.

AB - 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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KW - Flexible Articulation

KW - Transfer Function

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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. En Inga Ortega EM, Robles-Bykbaev VE, García Herranz N, Gallego Diaz E, editores, 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

Resumen

Serie de la publicación

Conferencia

Nota bibliográfica

Areas de Conocimiento del CACES

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