Power grasping of a prosthetic hand based upon virtual spring-damper hypothesis

Amir Fassih; D. Subbaram Naidu; Steve Chiu; Marco P. Schoen

doi:10.2316/P.2010.706-060

Power grasping of a prosthetic hand based upon virtual spring-damper hypothesis

Amir Fassih, D. Subbaram Naidu, Steve Chiu, Marco P. Schoen

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

Abstract

A control scheme for achieving object power grasping by a prosthetic hand is proposed. The control scheme is based on defining virtual spring-damper between finger tip and desired point, and a semi circular path for finger tip. It is shown that the suggested control scheme provides satisfactory performance in power grasping of prosthetic hand, without the need for additional complexity regarding equations for inverse kinematics, or inverse dynamics, and the information on tactile or force sensing or even object shape.

Original language	English (US)
Title of host publication	Proceedings of the IASTED International Conference on Robotics and Applications, RA 2010
Pages	213-220
Number of pages	8
DOIs	https://doi.org/10.2316/P.2010.706-060
State	Published - Dec 1 2010
Event	IASTED International Conference on Robotics and Applications, RA 2010 - Cambridge, MA, United States Duration: Nov 1 2010 → Nov 3 2010

Other

Other	IASTED International Conference on Robotics and Applications, RA 2010
Country/Territory	United States
City	Cambridge, MA
Period	11/1/10 → 11/3/10

Keywords

Control
Medical robotics
Power grasping
Prosthetic hand control

Publisher link

10.2316/P.2010.706-060

Find It

Find It at U of M Libraries

Cite this

Fassih, A, Naidu, DS, Chiu, S & Schoen, MP 2010, Power grasping of a prosthetic hand based upon virtual spring-damper hypothesis. in Proceedings of the IASTED International Conference on Robotics and Applications, RA 2010. pp. 213-220, IASTED International Conference on Robotics and Applications, RA 2010, Cambridge, MA, United States, 11/1/10. https://doi.org/10.2316/P.2010.706-060

@inproceedings{19870fecd67a4cfca7ff76808164ae03,

title = "Power grasping of a prosthetic hand based upon virtual spring-damper hypothesis",

abstract = "A control scheme for achieving object power grasping by a prosthetic hand is proposed. The control scheme is based on defining virtual spring-damper between finger tip and desired point, and a semi circular path for finger tip. It is shown that the suggested control scheme provides satisfactory performance in power grasping of prosthetic hand, without the need for additional complexity regarding equations for inverse kinematics, or inverse dynamics, and the information on tactile or force sensing or even object shape.",

keywords = "Control, Medical robotics, Power grasping, Prosthetic hand control",

author = "Amir Fassih and Naidu, {D. Subbaram} and Steve Chiu and Schoen, {Marco P.}",

year = "2010",

month = dec,

day = "1",

doi = "10.2316/P.2010.706-060",

language = "English (US)",

isbn = "9780889868625",

pages = "213--220",

booktitle = "Proceedings of the IASTED International Conference on Robotics and Applications, RA 2010",

note = "IASTED International Conference on Robotics and Applications, RA 2010 ; Conference date: 01-11-2010 Through 03-11-2010",

}

TY - GEN

T1 - Power grasping of a prosthetic hand based upon virtual spring-damper hypothesis

AU - Fassih, Amir

AU - Naidu, D. Subbaram

AU - Chiu, Steve

AU - Schoen, Marco P.

PY - 2010/12/1

Y1 - 2010/12/1

N2 - A control scheme for achieving object power grasping by a prosthetic hand is proposed. The control scheme is based on defining virtual spring-damper between finger tip and desired point, and a semi circular path for finger tip. It is shown that the suggested control scheme provides satisfactory performance in power grasping of prosthetic hand, without the need for additional complexity regarding equations for inverse kinematics, or inverse dynamics, and the information on tactile or force sensing or even object shape.

AB - A control scheme for achieving object power grasping by a prosthetic hand is proposed. The control scheme is based on defining virtual spring-damper between finger tip and desired point, and a semi circular path for finger tip. It is shown that the suggested control scheme provides satisfactory performance in power grasping of prosthetic hand, without the need for additional complexity regarding equations for inverse kinematics, or inverse dynamics, and the information on tactile or force sensing or even object shape.

KW - Control

KW - Medical robotics

KW - Power grasping

KW - Prosthetic hand control

UR - http://www.scopus.com/inward/record.url?scp=79952540057&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79952540057&partnerID=8YFLogxK

U2 - 10.2316/P.2010.706-060

DO - 10.2316/P.2010.706-060

M3 - Conference contribution

AN - SCOPUS:79952540057

SN - 9780889868625

SP - 213

EP - 220

BT - Proceedings of the IASTED International Conference on Robotics and Applications, RA 2010

T2 - IASTED International Conference on Robotics and Applications, RA 2010

Y2 - 1 November 2010 through 3 November 2010

ER -

Power grasping of a prosthetic hand based upon virtual spring-damper hypothesis

Abstract

Other

Keywords

Publisher link

Find It

Other files and links

Fingerprint

Cite this