Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor

Evaluation of a Neural Network-Based Control Strategy for a Cost-Effective Externally-Powered Prosthesis

“…The range of the applied forces selected for this study was consistent with the range of a human hand in similar activities (Kargov et al, 2004). Even though the displacement results reported in this study are difficult to compare with other literature because of the difference in testing outcomes (Schuurmans et al, 2007;Engeberg & Meek, 2008;Kamikawa & Maeno, 2008) and the range of force disturbance (Gunji et al, 2008), our results suggested that the algorithm was able to successfully handle different grasping tasks with relatively small displacements. Disturbance is a function of multiple factors (friction coefficients, time response of the hand, adequate adjusting of the grasping force, disturbance detection time, etc.).…”

“…Three sets of experiments were designed to evaluate the control strategy based on the testing methodology presented in (Schuurmans et al, 2007;Gunji et al, 2008;Kamikawa & Maeno, 2008). These experiments were performed with the aim of simulating real situations likely encountered in ADL.…”

“…The exact values of the closing velocity and initial reference force are determined empirically. Different metrics have been described to assess the performance of underactuated robotic hands with respect to their ability to hold different objects (Kragten & Herder, 2010) undergoing sudden, gradual, and torsional external forces (Schuurmans, van der Linde, Plettenburg, & van der Helm, 2007;Engeberg & Meek, 2008;Gunji et al, 2008;Kamikawa & Maeno, 2008;Wettels, Parnandi, Moon, Loeb, & Sukhatme, 2009). Even though these metrics are related mainly to the evaluation of the mechanical aspect of underactuated hands, some may be used to evaluate the performance of the control strategy as well.…”

Tactile sensing in dexterous robot hands — Review

“…Requirements for spatial resolution can be omitted when only slippage is of importance, e.g. automatic grasping using vibrations to achieve stable grasp [32] and slip-detection with center-of-pressure tactile sensor [36].…”

A new slip-detection method based on pairwise high frequency components of capacitive sensor signals

“…They mounted Center of Pressure (CoP) sensors on the robot hand, and slip could be detected immediately before it occurred, based on the falling curve of the force output of the CoP sensors [8]. In [9], Masayuki et al found that the amplified output voltage of the fabricated tactile sensor changed depending on the gripping status.…”