Referenced Items are not available for this document.
We present a proof-of-concept for controlling the grasp of an anthropomorphic mechatronic prosthetic hand by using a biomimetic tactile sensor, Bayesian inference, and simple algorithms for estimation and control. The sensor takes advantage of its compliant mechanics to provide a triaxial force sensing end-effector for grasp control. By calculating normal and shear forces at the fingertip, the prosthetic hand is able to maintain perturbed objects within the force cone to prevent slip. A Kalman filter is used as a noise-robust method to calculate tangential forces. Biologically inspired algorithms and heuristics are presented that can be implemented online to support rapid, reflexive adjustments of grip.
Published in:
Mechatronics, IEEE/ASME Transactions on
(Volume:14
,
Issue:
6
)
Date of Publication: Dec. 2009
- Page(s):
- 718 - 723
- ISSN :
- 1083-4435
- INSPEC Accession Number:
- 10966886
- Digital Object Identifier :
- 10.1109/TMECH.2009.2032686
- Product Type:
- Journals & Magazines
- Date of Publication :
- 20 October 2009
- Date of Current Version :
- 10 November 2009
- Issue Date :
- Dec. 2009
- Sponsored by :
- ASME Dynamic Systems and Control Division
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