Method for Automatic Slippage Detection With Tactile Sensors Embedded in Prosthetic Hands

Tactile sensing is fundamental for the human hand to achieve high dexterity. Most prosthetic hands are still devoid of tactile sensors, implying that user cannot perceive external stimulation nor react in a fine manner. As consequence, unforeseen events, e.g., slippage, difficult manage. This article proposes an algorithm perform slippage detection with sensors integrated into hands. The based on filtering sensor output; rectification and envelope follow filtering. A binary signal, relating finally computed. An electrical circuit has been designed built elaborate signals. These have embedded bioinspired fingertip mounted hand, which interfaced robotic arm assess capability identify slippage. Eight different surfaces employed, while three sliding velocities tested random interaction force between test surfaces. Finally, experiments closed-loop configuration conducted demonstrate effectiveness dynamic manipulation. Results proved adequacy terms short latency onset actual reaction.