Development of prosthesis grasp control systems on a robotic testbed

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

doi:10.1109/BioRob.2012.6290289

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 proceeding › Conference contribution › Academic › peer-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 language	Undefined
Title of host publication	Proceedings of the 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Place of Publication	USA
Publisher	IEEE ROBOTICS AND AUTOMATION SOCIETY
Pages	1110-1115
Number of pages	6
ISBN (Print)	978-1-4577-1199-2
DOIs	https://doi.org/10.1109/BioRob.2012.6290289
Publication status	Published - 24 Jun 2012
Event	4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - TBD, Rome, Italy Duration: 24 Jun 2012 → 27 Jun 2012 Conference number: 4

Publication series

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

Conference

Conference	4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Abbreviated title	BioRob
Country	Italy
City	Rome
Period	24/06/12 → 27/06/12

Keywords

IR-81448
EWI-22195
METIS-287989

Access to Document

10.1109/BioRob.2012.6290289

http://eprints.eemcs.utwente.nl/secure2/22195/01/Peerdeman12c.pdf

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

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title = "Development of prosthesis grasp control systems on a robotic testbed",

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.",

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author = "B. Peerdeman and Ugo Fabrizi and Gianluca Palli and Claudio Melchiorri and Stefano Stramigioli and Sarthak Misra",

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doi = "10.1109/BioRob.2012.6290289",

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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). IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 1110-1115, 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 24/06/12. https://doi.org/10.1109/BioRob.2012.6290289

Development of prosthesis grasp control systems on a robotic testbed. / Peerdeman, B.; Fabrizi, Ugo; Palli, Gianluca; Melchiorri, Claudio; Stramigioli, Stefano ; Misra, Sarthak.

Proceedings of the 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob). USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2012. p. 1110-1115.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Misra, Sarthak

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AB - 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.

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