Stiffness-gradient-based Grasping Force Control for an Underactuated Prosthetic Hand

Author(s): Yi Zhang , Hua Deng* , Wendi Zhuo , Guoliang Zhong .

Journal Name: Recent Advances in Electrical & Electronic Engineering

Volume 11 , Issue 4 , 2018

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Abstract:

Background: In order to avoid undesired slide or damage, desired grasping force should be discrepant by the prosthetic hand when grasping soft or hard objects.

Methods: A method was proposed in which a force sensor and an optical encoder are used to estimate the stiffness of the object being grasped. Based on contact-impact force model, a fuzzy logic system for stiffness estimation determined by contact force and the rotating angle of motor is constructed.

Results: In order to avoid undesired deformation, the main controller modifies the PID gains based on the estimated stiffness of the grasped objects.

Conclusion: The experiment results are presented to demonstrate the effectiveness of the proposed method.

Keywords: Prosthetic hands, underactuated mechanism, stiffness estimation, grasping force control, finger mechanism, EMG signal.

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Article Details

VOLUME: 11
ISSUE: 4
Year: 2018
Page: [460 - 464]
Pages: 5
DOI: 10.2174/2352096511666180213113017
Price: $58

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