Contact force control of a robotic hand using F/T sensory feedback with a rigid object

Jo, Joonhee; Kim, Sung-Kyun; Oh, Yonghwan; Oh, Sang-Rok

doi:10.1109/coase.2012.6386438

Cited by 7 publications

(3 citation statements)

References 9 publications

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“…However, the appropriate function of the prosthetic hand requires feedback to ensure it can adapt to the parameter of different object better. The absence of feedback lead to frustrating situation where grasped are inadvertently crushed or dropped [10].The proper forces required not to drop and not to break are important [11]. With feedback, the proper forces needed can be determined.…”

Section: Introductionmentioning

confidence: 99%

Design and Development ofa Mirror Effect Control Prosthetic Hand with Force Sensing

Yahya¹,

Hamzah²,

Othman³

et al. 2017

TELKOMNIKA

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Some of the already available prosthetic hands in the market are operated in open loop, without any feedback and expensive. This system counters those by having the prosthetic hand printed using 3D printer and consist of a feedback sensor to make it a closed loop system. The system generally consists of two sections, mainly Finger Input and Prosthetic Output. The two sections communicate wirelessly for data transferring. The main purpose of the system is to control the prosthetic hand wirelessly using the Mirror Glove by performing a mirror effect that will translate movement from the glove onto the prosthetic hand. The Mirror Glove monitors the movements/bending of each fingers using force sensitive sensor. The prosthetic hand also has a sensor known as force sensitive resistor. The sensors will feedback the pressure on the prosthetic hand during object grasping, allowing the prosthetic hand to grasp delicate object without damaging it. Overall, the system will imitate the flex and relaxing of fingers inside the Mirror Glove and wirelessly control distant prosthetic hand to imitate the human hand.

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Section: Introductionmentioning

confidence: 99%

Design and Development ofa Mirror Effect Control Prosthetic Hand with Force Sensing

Yahya¹,

Hamzah²,

Othman³

et al. 2017

TELKOMNIKA

View full text Add to dashboard Cite

show abstract

“…An example of this approach can be found in Cipriani et al, 7 where a PID control is used to preshape a multi-fingered underactuated hand, and a simultaneous force control is applied to all the fingers during grasping. In Jo et al, 8 a proportional-integral (PI) force control with an inner velocity loop has been proposed, but no experimental tests on real prosthetic hands have been done. A hybrid approach has been tested in Zhu et al, 9 where a PI force control is adopted for the outer loop, while a fuzzy position control is used in the inner loop.…”

Section: Introductionmentioning

confidence: 99%

“…For example, in Pasluosta and Chiu, 10 signal derivatives have been computed for slip detection, with no negligible noise. In some cases, force/torque (F/T) sensors have been employed, 8 although they provide complex information that are not required by the application with high costs. In this article, one FSR sensor has been positioned on the fingertip of thumb, index, and middle and used for the twofold purpose of measuring the normal force component and detecting slippage.…”

Section: Introductionmentioning

confidence: 99%

Multilevel control of an anthropomorphic prosthetic hand for grasp and slip prevention

Barone

Ciancio

Romeo

et al. 2016

Advances in Mechanical Engineering

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The success of grasping and manipulation tasks of commercial prosthetic hands is mainly related to amputee visual feedback since they are not provided either with tactile sensors or with sophisticated control. As a consequence, slippage and object falls often occur. This article wants to address the specific issue of enhancing grasping and manipulation capabilities of existing prosthetic hands, by changing the control strategy. For this purpose, it proposes a multilevel control based on two distinct levels consisting of (1) a policy search learning algorithm combined with central pattern generators in the higher level and (2) a parallel force/position control managing slippage events in the lower level. The control has been tested on an anthropomorphic robotic hand with prosthetic features (the IH2 hand) equipped with force sensors. Bi-digital and tri-digital grasping tasks with and without slip information have been carried out. The KUKA-LWR has been employed to perturb the grasp stability inducing controlled slip events. The acquired data demonstrate that the proposed control has the potential to adapt to changes in the environment and guarantees grasp stability, by avoiding object fall thanks to prompt slippage event detection.

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A bio-inspired force control for cyclic manipulation of prosthetic hands

Ciancio

Barone

Zollo

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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The human hand is considered as the highest example of dexterous system capable of interacting with different objects and adapting its manipulation abilities to them. The control of poliarticulated prosthetic hands represents one important research challenge, typically aiming at replicating the manipulation capabilities of the natural hand. For this reason, this paper wants to propose a bio-inspired learning architecture based on parallel force/position control for prosthetic hands, capable of learning cyclic manipulation capabilities. To this purpose, it is focused on the control of a commercial biomechatronic hand (the IH2 hand) including the main features of recent poliarticulated prosthetic hands. The training phase of the hand was carried out in simulation, the parallel force/position control was tested in simulation whereas preliminary tests were performed on the real IH2 hand. The results obtained in simulation and on the real hand provide an important evidence of the applicability of the bio-inspired neural control to real biomechatronic hand with the typical features of a hand prosthesis.

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Contact force control of a robotic hand using F/T sensory feedback with a rigid object

Cited by 7 publications

References 9 publications

Design and Development ofa Mirror Effect Control Prosthetic Hand with Force Sensing

Design and Development ofa Mirror Effect Control Prosthetic Hand with Force Sensing

Multilevel control of an anthropomorphic prosthetic hand for grasp and slip prevention

A bio-inspired force control for cyclic manipulation of prosthetic hands

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