Grasping Pattern Recognition and Grasping Force Estimation For Prosthetic Hands
نویسندگان
چکیده
منابع مشابه
Robot Grasping for Prosthetic Applications
Neurally controlled prosthetic devices capable of environmental manipulation have much potential towards restoring the physical functionality of disabled people. However, the number of user input variables provided by current neural decoding systems is much less than the number of control degrees-of-freedom (DOFs) of a prosthetic hand and/or arm. To address this sparse control problem, we propo...
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Multiingered robot hands can be used for applying ne motions. Unlike pick-and-place manipulations, Fine Motions Strategies generate movements based on sensor information to overcome mechanical and sensory uncertainties(Laugier, 1989; Magnussen and Doersam, 1995; Munoz et al., 1995). Performing assembly operations with a dexterous hand, high level strategies for planning a manipulation task have...
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An important issue in controlling a multi-fingered robotic hand grasping an object is the evaluation of the minimal contact forces able to guarantee the stability of the grasp and its feasibility. This problem can be solved online if suitable sensing information is available. In detail, using finger tactile information and contact force measurements, an efficient algorithm is developed to compu...
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— A key goal in dextrous robotic hand grasping is to balance external forces and at the same time achieve grasp stability and minimum grasping energy by choosing an appropriate set of internal grasping forces. Since it appears that there is no direct algebraic optimization approach, a recursive optimization, which is adaptive for application in a dynamic environment, is required. One key observ...
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ژورنال
عنوان ژورنال: ITM Web of Conferences
سال: 2016
ISSN: 2271-2097
DOI: 10.1051/itmconf/20160709016