Development of prosthesis grasp control systems on a robotic testbed

B. Peerdeman, Ugo Fabrizi, Gianluca Palli, Claudio Melchiorri, Stefano Stramigioli, Sarthak Misra

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    3 Citations (Scopus)

    Abstract

    Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.
    Original languageUndefined
    Title of host publicationProceedings of the 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages1110-1115
    Number of pages6
    ISBN (Print)978-1-4577-1199-2
    DOIs
    Publication statusPublished - 24 Jun 2012
    Event4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - TBD, Rome, Italy
    Duration: 24 Jun 201227 Jun 2012
    Conference number: 4

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society
    ISSN (Print)2155-1774
    ISSN (Electronic)2155-1782

    Conference

    Conference4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
    Abbreviated titleBioRob
    CountryItaly
    CityRome
    Period24/06/1227/06/12

    Keywords

    • IR-81448
    • EWI-22195
    • METIS-287989

    Cite this

    Peerdeman, B., Fabrizi, U., Palli, G., Melchiorri, C., Stramigioli, S., & Misra, S. (2012). Development of prosthesis grasp control systems on a robotic testbed. In Proceedings of the 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (pp. 1110-1115). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/BioRob.2012.6290289