A Novel Thick-Film Piezoelectric Slip Sensor for a Prosthetic Hand

Cotton, Darryl; Chappell, P.H.; Cranny, Andy; White, Neil; Beeby, Steve

doi:10.1109/jsen.2007.894912

Cited by 118 publications

(66 citation statements)

References 15 publications

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“…The sensor is mounted at the end of the finger link and held secure with small bolts. The sensor used for this work has been developed by Cranny [8] and Cotton [9]. Figure 2 illustrates the sensor with its finger link system.…”

Section: B Piezoelectric Sensormentioning

confidence: 99%

Surface texture detection with artificial fingers

Hanif

Chappell

Cranny

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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Abstract-This paper highlights the potential of using prosthetic devices to sense surface textures; an important characteristic of a lower arm that is often neglected. An artificial finger equipped with a piezoelectric sensor, mounted on a fingertip, has been designed to detect surface textures of different dimensions. Signal frequencies generated during the exploratory movement of the artificial finger reliably correlate to all the widths of grooves and ridges of the surface textures under investigation. This capability provides a positive outlook in recreating a touch sensation that has been previously lost from natural fingers and palms.

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Section: B Piezoelectric Sensormentioning

confidence: 99%

Surface texture detection with artificial fingers

Hanif

Chappell

Cranny

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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“…Capacitive tactile sensors are most sensitive to normal loads, as their mode of operation requires the deflection of a membrane. Conversely, piezoelectric and piezoresistive materials can be employed to detect normal loads as well as shear loads generated by the surface traction between the object and the sensor face during slippage (Cotton et al, 2007) . These two components of the applied load can be equally detected using other technologies such as strain gages and optical devices.…”

Section: Haptic Perceptionmentioning

confidence: 99%

A Mechatronic Perspective on Robotic Arms and End-Effectors

Ben-Tzvi¹,

Moubarak²

2011

Intelligent Mechatronics

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“…Since slip sensors are not commercially available for prosthetic applications, recent research had been focused on the development of their own sensors to incorporate the estimation of slippage information into prosthetic devices [7][8][9]. However, the final cost of the prosthesis using this kind of sensor can be affected enormously by the fabrication process.…”

Section: Slip Detectionmentioning

confidence: 99%

Slippage Sensory Feedback and Nonlinear Force Control System for a Low-Cost Prosthetic Hand

Pasluosta¹,

Tims²,

Chiu³

2009

Am. J. Biomed. Sci.

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The low acceptability of current prosthetic devices can be attributed to the extensive psychological effort and the high cost associated with them. To address these concerns, an on-line slippage detector was developed using only inexpensive force sensors placed at the tips of a prototype hand. The prototype consists of a five fingered prosthetic hand consisting of active digits driven independently by DC motors. Force sensor resistors (FSR) are placed at the tip of each active finger and potentiometers are attached at the proximal and middle joints. Using the information from the FSR, not only can we detect the level of normal force exerted but also slippage between the fingers and the object by calculating the fluctuations of the exerted force. An on-line algorithm is developed to calculate the derivative of the force and determine when slippage is produced. Nonlinear model predictive control (NMPC) is used to provide feedback control to the prosthetic device. It utilizes a neural network to model the dynamics of each finger. Using this model, it is possible to predict future plant performance (the amount of force exerted by the prosthetic hand). Consequently, the controller uses this prediction to calculate the best input (current needed to drive the actuators) for the system to obtain the desired output over a specific time horizon. In order to calculate the future control inputs, the optimization system minimizes the cost function associated with the difference between the measured force and the reference / target output. Experimental protocols involve grasping various objects and inducing slippage. Data was collected using the NI DAQ cards and LabVIEW software. Experiments showed promising results using this strategy in which the force exerted on an object can be modulated without additional efforts from the users.

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A Novel Thick-Film Piezoelectric Slip Sensor for a Prosthetic Hand

Cited by 118 publications

References 15 publications

Surface texture detection with artificial fingers

Surface texture detection with artificial fingers

A Mechatronic Perspective on Robotic Arms and End-Effectors

Slippage Sensory Feedback and Nonlinear Force Control System for a Low-Cost Prosthetic Hand

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