Using accelerometers to analyse slip for prosthetic application

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Description/Abstract

A slip sensor, using accelerometers, has been investigated for use in prosthetic design. The basis of this report is the characterization of this sensor including how it performs in re-gripping a falling object. The possibility of using three-axis vibration control is investigated and the limitations of this method are reported. A controller was produced to determine how reliable the sensor is when using both open- and closed-loop control methods. The conclusion is that the sensor is robust, and in addition to basic vibration, it is possible to use the sensor to calculate a reliable value for the distance of slip. Using statistical measures, a minimum grip force is given for successful re-grip without knowledge of the tangential friction forces.