DocumentCode
2548118
Title
Precision grasping of a prosthetic hand based on virtual spring damper hypothesis
Author
Fassih, Amir ; Naidu, D. Subbaram ; Chiu, Steve ; Schoen, Marco P.
Author_Institution
Sch. of Eng., Idaho State Univ., Pocatello, ID, USA
fYear
2010
fDate
16-18 Dec. 2010
Firstpage
79
Lastpage
82
Abstract
A control strategy for achieving object precision grasping by a prosthetic hand is proposed. The control strategy is based on defining virtual spring-damper between two finger tips and damping force at each finger joint. It is shown that the proposed control strategy provides a satisfactory performance in precision grasping of a prosthetic hand, without the need for additional complexity regarding equations for inverse kinematics, or inverse dynamics, and the information on tactile or force sensing or even object shape.
Keywords
artificial limbs; biocontrol; damping; medical control systems; control strategy; damping force; precision grasping; prosthetic hand; virtual spring damper hypothesis; Fingers; Grasping; Joints; Prosthetic hand; Robots; Shock absorbers; Springs;
fLanguage
English
Publisher
ieee
Conference_Titel
Biomedical Engineering Conference (CIBEC), 2010 5th Cairo International
Conference_Location
Cairo
ISSN
2156-6097
Print_ISBN
978-1-4244-7168-3
Type
conf
DOI
10.1109/CIBEC.2010.5716045
Filename
5716045
Link To Document