Stiffness-gradient-based Grasping Force Control for an Underactuated Prosthetic Hand

Title:Stiffness-gradient-based Grasping Force Control for an Underactuated Prosthetic Hand

Volume: 11 Issue: 4

Author(s): Yi Zhang, Hua Deng*, Wendi Zhuo and Guoliang Zhong

Affiliation:

• State Key Laboratory of High-Performance Complex Manufacturing, School of Mechanical & Electrical Engineering, Central South University, Changsha 410083,China

Keywords: Prosthetic hands, underactuated mechanism, stiffness estimation, grasping force control, finger mechanism, EMG signal.

Abstract: Background: In order to avoid undesired slide or damage, desired grasping force should be discrepant by the prosthetic hand when grasping soft or hard objects.

Methods: A method was proposed in which a force sensor and an optical encoder are used to estimate the stiffness of the object being grasped. Based on contact-impact force model, a fuzzy logic system for stiffness estimation determined by contact force and the rotating angle of motor is constructed.

Results: In order to avoid undesired deformation, the main controller modifies the PID gains based on the estimated stiffness of the grasped objects.

Conclusion: The experiment results are presented to demonstrate the effectiveness of the proposed method.

Cite this article as:

Zhang Yi , Deng Hua *, Zhuo Wendi and Zhong Guoliang , Stiffness-gradient-based Grasping Force Control for an Underactuated Prosthetic Hand, Recent Advances in Electrical & Electronic Engineering 2018; 11 (4) . https://dx.doi.org/10.2174/2352096511666180213113017

DOI https://dx.doi.org/10.2174/2352096511666180213113017	Print ISSN 2352-0965
Publisher Name Bentham Science Publisher	Online ISSN 2352-0973