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. 2013 Nov:2013:10.1109/icsens.2013.6688445.
doi: 10.1109/icsens.2013.6688445. Epub 2013 Dec 19.

Utilizing Tactile Feedback for Biomimetic Grasping Control in Upper Limb Prostheses

Luke Osborn  1 , Nitish V Thakor  1 , Rahul Kaliki  2
Affiliations

Utilizing Tactile Feedback for Biomimetic Grasping Control in Upper Limb Prostheses

Luke Osborn et al. Proc IEEE Sens. 2013 Nov.

Abstract

A biomimetic system for enhancing the control and reliability of grasping with prosthetic hands was designed and experimentally evaluated. Barometric pressure sensors as well as a force-sensitive resistor (FSR) were placed on a prosthetic hand to provide valuable tactile feedback. Contact and slip detection grip control algorithms were developed to interpret force signals for enhancing stable grasping. Recent advances in radio-frequency identification (RFID) technology enable the amputee to select between grip control strategies based on the desired object to be grasped. Experimental results indicate that the control algorithms are capable of utilizing real-time force responses to detect object contact as well as slip. By allowing the user to act as a high-level controller with RFID technology, a multi-faceted low-level controller that responds to tactile feedback can be developed for enhancing grasping functionality in prosthetic hands.

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Figures

Figure 1.
Figure 1.
(a) A MORPH unit with RFID tags and (b) rubber coated sensors. The five sensors on the TakkStrip are labeled.
Figure 2.
Figure 2.
Bebionic prosthetic hand with sensor cuff power grasping PVC pipe.
Figure 3.
Figure 3.
System block diagram illustrating control switching with RFID
Figure 4.
Figure 4.
Grip force (N), force rate of change (N/ms), contact, and resulting EMG gain for grasping a Styrofoam cup using a TakkStrip.
Figure 5.
Figure 5.
Grip force (N), force rate of change (N/ms), contact, and resulting EMG gain for grasping a plastic bottle using a TakkStrip.
Figure 6.
Figure 6.
Grip force (N), force rate of change (N/ms), contact, and resulting EMG gain for grasping a PVC pipe using a FSR
See this image and copyright information in PMC

References

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