Precision grasping of a prosthetic hand based on virtual spring damper hypothesis

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

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

4 Scopus citations

Abstract

A control strategy for achieving object precision grasping by a prosthetic hand is proposed. The control strategy is based on defining virtual spring-damper between two finger tips and damping force at each finger joint. It is shown that the proposed control strategy provides a satisfactory performance in precision grasping of a 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 publication2010 5th Cairo International Biomedical Engineering Conference, CIBEC 2010
Pages79-82
Number of pages4
DOIs
StatePublished - Dec 1 2010
Event2010 5th Cairo International Biomedical Engineering Conference, CIBEC 2010 - Cairo, Egypt
Duration: Dec 16 2010Dec 18 2010

Publication series

Name2010 5th Cairo International Biomedical Engineering Conference, CIBEC 2010

Other

Other2010 5th Cairo International Biomedical Engineering Conference, CIBEC 2010
CountryEgypt
CityCairo
Period12/16/1012/18/10

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