Slip Detection Strategies for Automatic Grasping in Prosthetic Hands

Journal article


Kyberd, P. 2023. Slip Detection Strategies for Automatic Grasping in Prosthetic Hands. Sensors. 23 (9), p. 4433. https://doi.org/10.3390/s23094433
AuthorsKyberd, P.
Abstract

Detection of an object slipping within the grasp of a prosthetic hand enables the hand to react to ensure the grasp is stable. The computer controller of a prosthetic hand needs to be able to unambiguously detect the slide from other signals. Slip can be detected from the surface vibrations made as the contact between object and terminal device shifts. A second method measures the changes in the normal and tangential forces between the object and the digits. After a review of the principles of how the signals are generated and the detection technologies employed, this paper details the acoustic and force sensors used in versions of the Southampton Hand. Attention is given to the techniques used in the field.
The performance of the Southampton tube sensor is explored. Different surfaces are slid past a sensor and the signals analysed. The resulting signals have low frequency content. The signals are low pass filtered and the resulting processing results in a consistent response across a range of surfaces. These techniques are fast and not computationally intensive,
which makes them practical for a device that is to be used daily in the field.

KeywordsSlip; Grip; Sensors; Slip detection; Prosthetic hand; Hierarchical Control.
Year2023
JournalSensors
Journal citation23 (9), p. 4433
PublisherMDPI Open Access Journals
Digital Object Identifier (DOI)https://doi.org/10.3390/s23094433
Web address (URL)https://www.mdpi.com/1424-8220/23/9/4433
FunderEuropean Commission
Accepted author manuscript
File Access Level
Open
Publisher's version
File Access Level
Open
Output statusPublished
Publication dates
Online30 Apr 2023
Apr 2023
Publication process dates
Deposited01 Jun 2023
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