A Weight Estimation Method for Prosthetic Hand

Abstract

Abstract-To achieve a human like grasping with a multifingered robot hand, the grasping force should be controlled with using information from the grasped object such as its weight. In this paper, we propose a method for estimating the weight of a grasped object using the force output of Force Sensor Resistor (FSR) sensor. FSR sensor can measure the variation of grasping force when the disturbing force applied on the suface of the grasped object. These datas are analyzed by using the method of Fourier Transformation, and approximately estimate the weight of grasped object. Finally, we propose a method for controlling grasping force resist disturbing force applied to the grasped object using the estimated weight data.