Slip Detection Strategies for Automatic Grasping in Prosthetic Hands
Journal article
Authors | Kyberd, 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. |
Keywords | Slip; Grip; Sensors; Slip detection; Prosthetic hand; Hierarchical Control. |
Year | 2023 |
Journal | Sensors |
Journal citation | 23 (9), p. 4433 |
Publisher | MDPI 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 |
Funder | European Commission |
Accepted author manuscript | File Access Level Open |
Publisher's version | File Access Level Open |
Output status | Published |
Publication dates | |
Online | 30 Apr 2023 |
Apr 2023 | |
Publication process dates | |
Deposited | 01 Jun 2023 |
https://repository.derby.ac.uk/item/9yv36/slip-detection-strategies-for-automatic-grasping-in-prosthetic-hands
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