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
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;
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on
Conference_Location :
Tokyo
Print_ISBN :
978-1-4244-7708-1
DOI :
10.1109/BIOROB.2010.5626816
