Slip suppression in prosthetic hands using a reflective optical sensor and MPI controller
المؤلف | Nakagawa-Silva A. |
المؤلف | Reddy Sunkesula S.P. |
المؤلف | Prach A. |
المؤلف | Cabibihan J.-J. |
المؤلف | Thakor N.V. |
المؤلف | Soares A.B. |
تاريخ الإتاحة | 2019-09-24T08:16:00Z |
تاريخ النشر | 2018 |
اسم المنشور | 2018 IEEE Biomedical Circuits and Systems Conference, BioCAS 2018 - Proceedings |
المصدر | Scopus |
الترقيم الدولي الموحد للكتاب | 978-1-5386-6009-7 |
الملخص | Prosthetic 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. |
راعي المشروع | ACKNOWLEDGMENT 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. |
اللغة | en |
الناشر | Institute of Electrical and Electronics Engineers Inc. |
الموضوع | Control Optic sensor Prosthetic hand Slip |
النوع | Conference Paper |
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