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Updated: Sep 19, 2025

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Autonomous slip control inspired by human physiology for improved shared control strategy.

Joana Matos1, Patricia Capsi-Morales2,3, Cristina Piazza2,3

  • 1Faculty of Engineering, University of Porto, Porto, Portugal.

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|June 18, 2025
PubMed
Summary

This study introduces an improved slip detection system for prosthetic hands, enhancing autonomous grasping. The novel controller prevents object slippage more effectively using less force.

Keywords:
grasping safetyprosthesesshared autonomy controlslip detectiontactile sensors

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Area of Science:

  • Robotics
  • Biomechanics
  • Neuroprosthetics

Background:

  • Replicating human hand functionality in upper-limb prostheses is challenging due to limited user control inputs and sensory feedback.
  • Existing semi-autonomous control strategies aim to improve prosthesis dexterity by integrating sensing technologies.
  • Myoelectric control limitations necessitate advanced solutions for effective prosthetic hand operation.

Purpose of the Study:

  • To develop an improved low-level controller for prosthetic hands focused on slip detection and autonomous grasping.
  • To enhance object holding stability in artificial hands by refining grasp control strategies.
  • To reduce the reliance on user input for maintaining a stable grasp during object manipulation.

Main Methods:

  • A shared control strategy dividing grasp control into user-initiated high-level and stability-focused low-level controllers.
  • Implementation of a novel slip module utilizing distributed 3D force sensors and a friction cone strategy.
  • Bandpass filtering for establishing an initial stable grasp model without prior knowledge.

Main Results:

  • The proposed controller demonstrated efficacy in preventing object slippage during grasping tasks.
  • The system required less grasping force compared to conventional state-of-the-art approaches.
  • Qualitative validation showed positive responsiveness to unexpected weight changes, comparable to human grasping.

Conclusions:

  • The novel slip detection module enhances autonomous grasping capabilities in prosthetic hands.
  • This approach offers a more stable and efficient grasp, reducing the risk of object slippage.
  • The findings contribute to the development of more functional and intuitive upper-limb prostheses.