TY - GEN
T1 - Precision grasping of a prosthetic hand based on virtual spring damper hypothesis
AU - Fassih, Amir
AU - Naidu, D. Subbaram
AU - Chiu, Steve
AU - Schoen, Marco P.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
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UR - http://www.scopus.com/inward/citedby.url?scp=79952563164&partnerID=8YFLogxK
U2 - 10.1109/CIBEC.2010.5716045
DO - 10.1109/CIBEC.2010.5716045
M3 - Conference contribution
AN - SCOPUS:79952563164
SN - 9781424471706
T3 - 2010 5th Cairo International Biomedical Engineering Conference, CIBEC 2010
SP - 79
EP - 82
BT - 2010 5th Cairo International Biomedical Engineering Conference, CIBEC 2010
T2 - 2010 5th Cairo International Biomedical Engineering Conference, CIBEC 2010
Y2 - 16 December 2010 through 18 December 2010
ER -