Using 'stall detection' as an auxiliary mechanism for sensing obstacles and hand grasping in arm prosthesis

This paper proposes a novel method for sensing obstacles and hand grasping activities in electromechanical arm prosthesis. The described method is based on indirectly sensing 'Stall' condition in prosthesis actuators through hall-effect sensors already embedded on its dc motors, thus not requiring external sensors. To test the proposed methodology, an electromechanical arm prosthesis of 3 degrees of freedom (DOF), plus 'open-close' of hand, which is being developed at CINVESTAV Mexico, was used. At the end of this paper, experimental measurements performed on the tested prosthesis, using and non using 'Stall Detection', are shown. We demonstrated that methodology can be used successfully for "sensing obstacles", but it cannot be used alone for "hand grasping". In any case, this technique demonstrated to be a good method to simplify and strengthen control of prosthesis.