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Autonomous Slip-Prevention Grip Force Control and Its Potential in Shared Control of Robotic Prosthetic Hands
Joseph Berman1, Varun Nalam2, Jie Yin3
1Department of Electrical and Computer Engineering, North Carolina State University, USA.
IEEE Transactions on Medical Robotics and Bionics
|April 23, 2026
Summary
This study developed an autonomous slip-prevention controller for prosthetic hands, using optical flow sensors to automatically adjust grip force. This intelligent system enhances grasping stability and reduces user cognitive load for prosthesis users.
Area of Science:
- Robotics
- Biomechanics
- Human-Computer Interaction
Background:
- Prosthetic hands often lack advanced grip force control, leading to object slippage and reduced user confidence.
- Existing myoelectric control requires significant user effort for stable grasping.
- Autonomous systems are needed to improve the functionality and usability of prosthetic devices.
Purpose of the Study:
- To develop and validate a novel autonomous slip-prevention grip force controller for robotic prosthetic hands.
- To integrate this controller into a shared control framework enhancing grasping function for prosthesis users.
- To evaluate the effectiveness of the shared control system in object manipulation tasks.
Main Methods:
- Developed an autonomous controller using optical flow sensors to detect slippage and adjust grip force in a closed-loop system.
- Validated slip-prevention on a bench test platform.
- Implemented a shared control framework combining myoelectric position control with autonomous grip force control during object interaction.
- Conducted human participant studies for object grasping, transfer, and release tasks, comparing shared control to myoelectric-only control.
Main Results:
- The autonomous grip force controller effectively prevented object slips and improved grasping stability.
- Shared control significantly reduced cognitive effort for users during object manipulation tasks.
- Task success rates increased with the shared control system compared to myoelectric-only control.
- Human participants demonstrated improved performance and reduced cognitive load when using the shared control system.
Conclusions:
- The developed autonomous slip-prevention grip force controller shows significant potential for improving prosthetic hand grasping functionality.
- Shared control paradigms integrating autonomous features can enhance user performance and reduce cognitive burden.
- Further research into shared control strategies is recommended to optimize user performance and acceptance of prosthetic devices.
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