Demonstration of force feedback control on the Modular Prosthetic Limb

Author

McGee, Timothy G. ; Para, Matthew P. ; Katyal, Kapil D. ; Johannes, Matthew S.

Author_Institution

Johns Hopkins Univ. Appl. Phys. Lab., Laurel, MD, USA

fYear

2014

fDate

5-8 Oct. 2014

Firstpage

2833

Lastpage

2836

Abstract

The Johns Hopkins University Applied Physics Laboratory (APL) led the development of the Modular Prosthetic Limb (MPL), an advanced upper-extremity prosthetic limb, under the DARPA Revolutionizing Prosthetics program. In addition to its use as an advanced prosthetic, APL is also exploring more advanced autonomy including closed-loop force feedback control with the MPL. This short paper provides an overview of the MPL system and summarizes two demonstrations performed at APL using fingertip force sensors to perform autonomous writing and fingertip grasping.

Keywords

artificial limbs; closed loop systems; force feedback; force sensors; APL; DARPA revolutionizing prosthetics program; Johns Hopkins University Applied Physics Laboratory; MPL system; autonomous writing; closed-loop force feedback control; fingertip force sensors; fingertip grasping; modular prosthetic limb; upper-extremity prosthetic limb; Force; Grasping; Prosthetic limbs; Robot sensing systems; Writing; autonomous grasping; force feedback; modular prosthetic limb; robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics (SMC), 2014 IEEE International Conference on

Conference_Location

San Diego, CA

Type

conf

DOI

10.1109/SMC.2014.6974358

Filename

6974358