Grip Control Using Biomimetic Tactile Sensing Systems

Author

Wettels, Nicholas ; Parnandi, Avinash R. ; Moon, Ji-Hyun ; Loeb, Gerald E. ; Sukhatme, Gaurav S.

Author_Institution

Dept. of Biomed. Eng., Univ. of Southern California, Los Angeles, CA, USA

Volume

14

Issue

6

fYear

2009

Firstpage

718

Lastpage

723

Abstract

We present a proof-of-concept for controlling the grasp of an anthropomorphic mechatronic prosthetic hand by using a biomimetic tactile sensor, Bayesian inference, and simple algorithms for estimation and control. The sensor takes advantage of its compliant mechanics to provide a triaxial force sensing end-effector for grasp control. By calculating normal and shear forces at the fingertip, the prosthetic hand is able to maintain perturbed objects within the force cone to prevent slip. A Kalman filter is used as a noise-robust method to calculate tangential forces. Biologically inspired algorithms and heuristics are presented that can be implemented online to support rapid, reflexive adjustments of grip.

Keywords

Kalman filters; biomimetics; dexterous manipulators; end effectors; grippers; manipulators; prosthetics; tactile sensors; Bayesian inference; Kalman filter; anthropomorphic mechatronic prosthetic hand; biomimetic tactile sensing systems; fingertip; grip control; noise-robust method; normal forces; shear forces; triaxial force sensing end-effector; Biomimetic; dexterous manipulators; grip control; tactile sensor;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/TMECH.2009.2032686

Filename

5290153