Slippage control in hand prostheses by sensing grasping forces and sliding motion

Electroactive polymeric sensors in hand prostheses: Bending response of an ionic polymer metal composite

“…In addition, flexible on-off touch sensors to determine contact points, and three-dimensional force sensors are distributed throughout the hand and fingertips to provide tactile sensation. Another popular approach is the use of a "sensory glove" such as that developed by Mingrino et al [9] which incorporates vibration and force sensors embedded in an elastomer glove. Along similar lines, is the development of a sensor thumb [21] which employs a matrix of force sensing elements on the thumb to provide information for closed loop control during a variety of grasp configurations typical of tasks of daily living.…”

“…Perhaps first in line, however, is the field of upper limb prosthetics in which sensory feedback is critical for obtaining adaptive grasp, reflex capabilities, prevention of slip and tactile exploration [7][8][9][10][11][12][13][14][15][16]. Currently, functional limitations and challenges of unreliable control have motivated over 70% of amputees in the United States to select hooks for value of their functionality [17] while 30-50% do not use their hand prostheses on a regular basis [18].…”

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

“…Lately, further studies have been proposed where controls based on slippage prevention are implemented. The idea to prevent slippage in robotics is not new; 11 however, the first example of prosthetic device with force control and slip prevention algorithm has been presented in Engeberg and Meek. 12 In it, a sliding mode force control with slippage detection was successfully compared with a simple proportionalderivative (PD) force control and a sliding mode with no slippage detection.…”

A tactile sensor system for a three-fingered robot manipulator

“…Force-controlled grasping has been achieved using a variety of feedback devices [1,2], of which many are inspired by the physiology of human skin [3,4]. By understanding the smart and efficient methods we use when manipulating even the most fragile objects, better algorithms for robot manipulation may emerge.…”

“…Both sensor materials have already been used successfully in the area of tactile sensing [1,13] (FSR applications in hand prostheses and in a robotic hand) [14,15] (PVF£ applications in dynamic sensing and in friction estimation). both sides of the foil form a capacitor with a parallel resistor, see fig.…”