Grip Control Using Biomimetic Tactile Sensing Systems

被引：101
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
收藏
页码：718 / 723
页数：6
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