Adaptive object slip prevention for prosthetic hands through proportional-derivative shear force feedback

@article{Engeberg2008AdaptiveOS,
  title={Adaptive object slip prevention for prosthetic hands through proportional-derivative shear force feedback},
  author={Erik D. Engeberg and Sanford G. Meek},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={1940-1945}
}
Three different object slip prevention controllers are incorporated into a force feedback controller for a prosthetic hand. Proportional and proportional-derivative shear force feedback controllers are explored in addition to an adaptive slip prevention algorithm to update the controllerpsilas estimate on the coefficient of friction as slips occur. Bench top experiments reveal a statistically significant improvement of the adaptive slip prevention controller over the others. Results from eight… CONTINUE READING
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