Kyberd, Peter;
(2023)
Slip Detection Strategies for Automatic Grasping in Prosthetic Hands.
Sensors
, 23
(9)
, Article 4433. 10.3390/s23094433.
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Abstract
The detection of an object slipping within the grasp of a prosthetic hand enables the hand to react to ensure the grasp is stable. The computer controller of a prosthetic hand needs to be able to unambiguously detect the slide from other signals. Slip can be detected from the surface vibrations made as the contact between object and terminal device shifts. A second method measures the changes in the normal and tangential forces between the object and the digits. After a review of the principles of how the signals are generated and the detection technologies are employed, this paper details the acoustic and force sensors used in versions of the Southampton Hand. Attention is given to the techniques used in the field. The performance of the Southampton tube sensor is explored. Different surfaces are slid past a sensor and the signals analysed. The resulting signals have low-frequency content. The signals are low pass filtered and the resulting processing results in a consistent response across a range of surfaces. These techniques are fast and not computationally intensive, which makes them practical for a device that is to be used daily in the field.
| Type: | Article |
|---|---|
| Title: | Slip Detection Strategies for Automatic Grasping in Prosthetic Hands |
| Location: | Switzerland |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.3390/s23094433 |
| Publisher version: | http://dx.doi.org/10.3390/s23094433 |
| Language: | English |
| Additional information: | Copyright © 2023 by the author. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
| Keywords: | Slip; grip; sensors; slip detection; prosthetic hand; hierarchical control |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Ortho and MSK Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10197091 |
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