Adaptive sliding mode control of grasped object slip for prosthetic hands

Sliding mode and integral sliding mode slip prevention controllers are implemented for a prosthetic hand and compared to a proportional derivative shear force feedback slip prevention controller. The integral sliding mode slip prevention controller provides a robust design framework for slip prevention while addressing the issue of reducing the amount of deformation imparted to the grasped object to stop slip. Averaged results from bench top experiments show that the integral sliding mode slip prevention controller produces the least amount of deformation to the grasped object while simultaneously preventing the object from being dropped.