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Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
Published on: April 21, 2023
Slip detection and grip adjustment using optical tracking in prosthetic hands.
Luke Roberts1, Girish Singhal, Rahul Kaliki
1University of Maryland Baltimore County, 1000 Hilltop Circle, Baltimore, MD 21250, USA. lukerob1@umbc.edu
Summary
This study introduces a prosthetic hand control system using optical sensors to detect object slip. The system significantly reduces slip rate, enhancing grip stability for prosthetic users.
Area of Science:
- Biomedical Engineering
- Robotics
- Sensor Technology
Background:
- Prosthetic hands lack sophisticated grip control, leading to object drops.
- Existing slip detection methods may be insufficient for dynamic grasping.
- The i-Limb prosthetic hand offers a platform for advanced control system integration.
Purpose of the Study:
- To develop and evaluate a closed-loop control system for prosthetic hands.
- To utilize optical tracking for precise detection of object slip.
- To enhance prosthetic hand grip stability and reduce slippage.
Main Methods:
- Designed a closed-loop control system integrating an optical sensor within a prosthetic glove.
- Developed a control algorithm to adjust grasping force based on detected slip.
- Conducted a proof-of-concept study comparing grip adjustment ON vs. OFF with increasing weight.
Main Results:
- The system demonstrated a significant reduction in average slip rate.
- Average slip rate decreased from 0.314 slips/(s·oz) without adjustment to 0.0411 slips/(s·oz) with grip adjustment.
- Optical sensing proved effective for real-time slip detection and control.
Conclusions:
- Optical slip detection offers an advantageous approach for prosthetic hand control.
- The developed system enhances prosthetic hand performance by actively managing grasp force.
- This technology has the potential to improve dexterity and reduce functional limitations for prosthetic users.
