Power grasping of a prosthetic hand based upon virtual spring-damper hypothesis

Amir Fassih, D. Subbaram Naidu, Steve Chiu, Marco P. Schoen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

A control scheme for achieving object power grasping by a prosthetic hand is proposed. The control scheme is based on defining virtual spring-damper between finger tip and desired point, and a semi circular path for finger tip. It is shown that the suggested control scheme provides satisfactory performance in power grasping of prosthetic hand, without the need for additional complexity regarding equations for inverse kinematics, or inverse dynamics, and the information on tactile or force sensing or even object shape.

Original languageEnglish (US)
Title of host publicationProceedings of the IASTED International Conference on Robotics and Applications, RA 2010
Pages213-220
Number of pages8
DOIs
StatePublished - Dec 1 2010
EventIASTED International Conference on Robotics and Applications, RA 2010 - Cambridge, MA, United States
Duration: Nov 1 2010Nov 3 2010

Other

OtherIASTED International Conference on Robotics and Applications, RA 2010
CountryUnited States
CityCambridge, MA
Period11/1/1011/3/10

Keywords

  • Control
  • Medical robotics
  • Power grasping
  • Prosthetic hand control

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