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A Method to Modify Initial Desired Force of Prosthetic Hand Based on Stiffness Estimation

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Intelligent Robotics and Applications (ICIRA 2015)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9244))

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Abstract

If desired force decoded by biological signals of prosthetic hand is too large, the soft object may produce undesired deformation or damaged. In order to reduce this phenomenon, the excessive grasping force needs to be limited. Based on contact-impact force model, a fuzzy logic system for stiffness estimation determined by contact force and its gradient is presented. In order to avoid undesired deformation, the maximum grasping force of the soft object is set up by experimental data. Then, a fuzzy control model is proposed to modify initial desired force. The experiment results are presented to demonstrate effectiveness of the proposed method.

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Author information

Authors and Affiliations

  1. State Key Laboratory of High-Performance Complex Manufacturing, Central South University, Changsha, 410083, China

    Yi Zhang, Xiao-Gang Duan & Hua Deng

  2. School of Mechanical and Electrical Engineering, Central South University, Changsha, 410083, China

    Yi Zhang, Xiao-Gang Duan & Hua Deng

Authors
  1. Yi Zhang
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  2. Xiao-Gang Duan
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  3. Hua Deng
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Corresponding author

Correspondence to Xiao-Gang Duan .

Editor information

Editors and Affiliations

  1. University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  2. Tokyo Metropolitan University, Tokyo, Japan

    Naoyuki Kubota

  3. Shanghai Jiao Tong University, Shanghai, China

    Xiangyang Zhu

  4. Karlsruhe Institute of Technology, Karlsruhe, Germany

    Rüdiger Dillmann

  5. University of Portsmouth, Portsmouth, United Kingdom

    Dalin Zhou

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© 2015 Springer International Publishing Switzerland

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Zhang, Y., Duan, XG., Deng, H. (2015). A Method to Modify Initial Desired Force of Prosthetic Hand Based on Stiffness Estimation. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9244. Springer, Cham. https://doi.org/10.1007/978-3-319-22879-2_32

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  • DOI: https://doi.org/10.1007/978-3-319-22879-2_32

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22878-5

  • Online ISBN: 978-3-319-22879-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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