Grip Control Using Biomimetic Tactile Sensing Systems

被引：103

作者：

Wettels, Nicholas ^{[1
]}

Parnandi, Avinash R. ^{[2
]}

Moon, Ji-Hyun ^{[3
]}

Loeb, Gerald E. ^{[1
]}

Sukhatme, Gaurav S. ^{[3
]}

机构：

[1] Univ So Calif, Dept Biomed Engn, Los Angeles, CA 90089 USA

[2] Univ So Calif, Dept Elect Engn, Los Angeles, CA 90089 USA

[3] Univ So Calif, Dept Comp Sci, Los Angeles, CA 90089 USA

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2009年 / 14卷 / 06期

关键词：

Biomimetic; dexterous manipulators; grip control; tactile sensor; GRASPING-FORCE OPTIMIZATION; MANIPULATION; OBJECT; HANDS;

D O I：

10.1109/TMECH.2009.2032686

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：718 / 723

页数：6

共 29 条

[1]

[Anonymous], 2006, Intelligent robotics and autonomous agents

[2]

BEATTIE D, 1994, INT C REH ROB WILM D

[3] Development and experimental analysis of a soft compliant tactile microsensor for anthropomorphic artificial hand [J].

Beccai, Lucia ;

Roccella, Stefano ;

Ascari, Luca ;

Valdastri, Pietro ;

Sieber, Arne ;

Carrozza, M. Chiara ;

Dario, Paolo .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2008, 13 (02) :158-168

[4] KNOWLEDGE-BASED CONTROL OF GRASPING IN ROBOT HANDS USING HEURISTICS FROM HUMAN MOTOR-SKILLS [J].

BEKEY, GA ;

LIU, H ;

TOMOVIC, R ;

KARPLUS, WJ .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1993, 9 (06) :709-722

[5]

Bicchi A., 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), P348, DOI 10.1109/ROBOT.2000.844081

[6] Encoding of direction of fingertip forces by human tactile afferents [J].

Birznieks, I ;

Jenmalm, P ;

Goodwin, AW ;

Johansson, RS .

JOURNAL OF NEUROSCIENCE, 2001, 21 (20) :8222-8237

[7] Dextrous hand grasping force optimization [J].

Buss, M ;

Hashimoto, H ;

Moore, JB .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1996, 12 (03) :406-418

[8] Friction, not texture, dictates grip forces used during object manipulation [J].

Cadoret, G ;

Smith, AM .

JOURNAL OF NEUROPHYSIOLOGY, 1996, 75 (05) :1963-1969

[9] A survey of robot interaction control schemes with experimental comparison [J].

Chiaverini, S ;

Siciliano, B ;

Villani, L .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 1999, 4 (03) :273-285

[10] GRIP FORCE ADJUSTMENTS EVOKED BY LOAD FORCE PERTURBATIONS OF A GRASPED OBJECT [J].

COLE, KJ ;

ABBS, JH .

JOURNAL OF NEUROPHYSIOLOGY, 1988, 60 (04) :1513-1522

← 1 2 3 →