Title :
Demonstration of force feedback control on the Modular Prosthetic Limb
Author :
McGee, Timothy G. ; Para, Matthew P. ; Katyal, Kapil D. ; Johannes, Matthew S.
Author_Institution :
Johns Hopkins Univ. Appl. Phys. Lab., Laurel, MD, USA
Abstract :
The Johns Hopkins University Applied Physics Laboratory (APL) led the development of the Modular Prosthetic Limb (MPL), an advanced upper-extremity prosthetic limb, under the DARPA Revolutionizing Prosthetics program. In addition to its use as an advanced prosthetic, APL is also exploring more advanced autonomy including closed-loop force feedback control with the MPL. This short paper provides an overview of the MPL system and summarizes two demonstrations performed at APL using fingertip force sensors to perform autonomous writing and fingertip grasping.
Keywords :
artificial limbs; closed loop systems; force feedback; force sensors; APL; DARPA revolutionizing prosthetics program; Johns Hopkins University Applied Physics Laboratory; MPL system; autonomous writing; closed-loop force feedback control; fingertip force sensors; fingertip grasping; modular prosthetic limb; upper-extremity prosthetic limb; Force; Grasping; Prosthetic limbs; Robot sensing systems; Writing; autonomous grasping; force feedback; modular prosthetic limb; robotics;
Conference_Titel :
Systems, Man and Cybernetics (SMC), 2014 IEEE International Conference on
Conference_Location :
San Diego, CA
DOI :
10.1109/SMC.2014.6974358
