• DocumentCode
    2932611
  • Title

    Grasped object stiffness detection for adaptive force control of a prosthetic hand

  • Author

    Andrecioli, Ricardo ; Engeberg, Erik D.

  • Author_Institution
    Mech. Eng. Dept., Univ. of Akron, Akron, OH, USA
  • fYear
    2010
  • fDate
    26-29 Sept. 2010
  • Firstpage
    197
  • Lastpage
    202
  • Abstract
    A force controller and an adaptive controller are presented for a prosthetic hand. The adaptive controller modulates the force feedback gain based on the detected stiffness of the grasped object. The results from benchtop experiments indicate statistically significant improvements in the system response when using the adaptive controller as well as a reduction of oscillatory behavior.
  • Keywords
    adaptive control; force control; force feedback; medical control systems; prosthetics; adaptive force control; force controller; force feedback; grasped object stiffness detection; oscillatory behavior reduction; prosthetic hand; Aluminum; Force; Force control; Force feedback; Grasping; Prosthetic hand; Springs;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on
  • Conference_Location
    Tokyo
  • ISSN
    2155-1774
  • Print_ISBN
    978-1-4244-7708-1
  • Type

    conf

  • DOI
    10.1109/BIOROB.2010.5626816
  • Filename
    5626816
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2932611