An investigation of the fundamental operation of an artificial hand has been carried out with the aim to study the automatic control feedback for this system. The hand is modeled as a simple prehension system with three sensing elements; force, acceleration and slip. This prehension study focused on the object's gripping and slippage processes. An automatic closed loop feedback control algorithm is developed to re-grip the object when it starts to slip which is similar in form to Hooke's Law. The algorithm uses information from the distance of the object has slipped to re-grip the object and control the amount of force required. Also, a method called approximate entropy has been used to analyze and detect when the object begins to slip. This method can be used to prevent the object from slipping. © 2009 Springer-Verlag.
CITATION STYLE
Ahmad, S. A., & Chappell, P. H. (2009). Artificial prehension and the detection of object slip. In IFMBE Proceedings (Vol. 25, pp. 231–234). Springer Verlag. https://doi.org/10.1007/978-3-642-03889-1_62
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