Using accelerometers to analyse slip for prosthetic application
Using accelerometers to analyse slip for prosthetic application
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.
artificial hands, slip, accelerometer, prosthetics
35203
Lowe, Richard
d597842e-560d-44a0-bade-dee08ce57677
Chappell, Paul
2d2ec52b-e5d0-4c36-ac20-0a86589a880e
Ahmad, Siti
f4efc165-6b21-4a94-bea5-7b023553b23b
25 January 2010
Lowe, Richard
d597842e-560d-44a0-bade-dee08ce57677
Chappell, Paul
2d2ec52b-e5d0-4c36-ac20-0a86589a880e
Ahmad, Siti
f4efc165-6b21-4a94-bea5-7b023553b23b
Lowe, Richard, Chappell, Paul and Ahmad, Siti
(2010)
Using accelerometers to analyse slip for prosthetic application.
Measurement Science and Technology, 21 (3), .
(doi:10.1088/0957-0233/21/3/035203).
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.
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Published date: 25 January 2010
Keywords:
artificial hands, slip, accelerometer, prosthetics
Organisations:
EEE, Southampton Wireless Group
Identifiers
Local EPrints ID: 268560
URI: http://eprints.soton.ac.uk/id/eprint/268560
ISSN: 1361-6501
PURE UUID: 5853d10a-c8f5-47fc-8b5e-3af10fb4ba8f
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Date deposited: 26 Feb 2010 12:20
Last modified: 14 Mar 2024 09:12
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Author:
Richard Lowe
Author:
Paul Chappell
Author:
Siti Ahmad
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