Adaptive object slip prevention for prosthetic hands through proportional-derivative shear force feedback

Three different object slip prevention controllers are incorporated into a force feedback controller for a prosthetic hand. Proportional and proportional-derivative shear force feedback controllers are explored in addition to an adaptive slip prevention algorithm to update the controllerpsilas estimate on the coefficient of friction as slips occur. Bench top experiments reveal a statistically significant improvement of the adaptive slip prevention controller over the others. Results from eight human test subjects indicate that all three methods of slip prevention significantly improve upon force control.