Slip suppression in prosthetic hands using a reflective optical sensor and MPI controller

Andrei Nakagawa-Silva, Sai Praneeth Reddy Sunkesula, Anna Prach, John John Cabibihan, Nitish V. Thakor, Alcimar B. Soares

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Prosthetic hands have greatly evolved in mechatronic, robotic and control aspects. However, occasional accidents might happen due to excessive grip force or the breaking of contact due to slip. Fast transient slip events can be properly handled by a low-level controller that can behave like a reflex to maintain grasp stability in a shared control manner between the user and the prosthetic hand itself. Here we propose the use of a reflective optic sensor to capture slip events and evaluate the performance of a monotonic PI (MPI) control law that acts as to suppress slip. We have characterized the response of the sensor to motion and noted that transparent surfaces generate smaller responses. The proof-of-concept experiment demonstrated the effectiveness of the MPI controller where slip events were properly suppressed by an increase in grip force.

Original languageEnglish (US)
Title of host publication2018 IEEE Biomedical Circuits and Systems Conference, BioCAS 2018 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538636039
DOIs
StatePublished - Dec 20 2018
Externally publishedYes
Event2018 IEEE Biomedical Circuits and Systems Conference, BioCAS 2018 - Cleveland, United States
Duration: Oct 17 2018Oct 19 2018

Publication series

Name2018 IEEE Biomedical Circuits and Systems Conference, BioCAS 2018 - Proceedings

Other

Other2018 IEEE Biomedical Circuits and Systems Conference, BioCAS 2018
Country/TerritoryUnited States
CityCleveland
Period10/17/1810/19/18

Keywords

  • Control
  • Optic sensor
  • Prosthetic hand
  • Slip

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Health Informatics
  • Instrumentation
  • Signal Processing
  • Biomedical Engineering

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