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AuthorNakagawa-Silva A.
AuthorReddy Sunkesula S.P.
AuthorPrach A.
AuthorCabibihan J.-J.
AuthorThakor N.V.
AuthorSoares A.B.
Available date2019-09-24T08:16:00Z
Publication Date2018
Publication Name2018 IEEE Biomedical Circuits and Systems Conference, BioCAS 2018 - Proceedings
ResourceScopus
ISBN978-1-5386-6009-7
URIhttp://dx.doi.org/10.1109/BIOCAS.2018.8584711
URIhttp://hdl.handle.net/10576/11919
AbstractProsthetic hands have greatly evolved in mechatronic, robotic and control aspects. However, occasional accidents might happen due to excessive grip force or the breaking of contact due to slip. Fast transient slip events can be properly handled by a low-level controller that can behave like a reflex to maintain grasp stability in a shared control manner between the user and the prosthetic hand itself. Here we propose the use of a reflective optic sensor to capture slip events and evaluate the performance of a monotonic PI (MPI) control law that acts as to suppress slip. We have characterized the response of the sensor to motion and noted that transparent surfaces generate smaller responses. The proof-of-concept experiment demonstrated the effectiveness of the MPI controller where slip events were properly suppressed by an increase in grip force. ? 2018 IEEE.
SponsorACKNOWLEDGMENT This work is supported by a NPRP grant from the Qatar National Research Fund under the grant No. NPRP 7-673-2-251. Andrei Nakagawa-Silva thanks the Brazilian funding program from CAPES for the support.
Languageen
PublisherInstitute of Electrical and Electronics Engineers Inc.
SubjectControl
Optic sensor
Prosthetic hand
Slip
TitleSlip suppression in prosthetic hands using a reflective optical sensor and MPI controller
TypeConference Paper


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