Proceedings of the 2015 International Conference on Test, Measurement and Computational Methods

Grasping Position Estimation for Prosthetic Hand

Authors
Rong Wang, Xiaogang Duan, Hua Deng
Corresponding Author
Rong Wang
Available Online November 2015.
DOI
https://doi.org/10.2991/tmcm-15.2015.16How to use a DOI?
Keywords
stable grasp; fingertip position; dynamics model; numerical simulation
Abstract
For multi-freedom prosthetic hand, grasping stability is very important. Force closure method is often used to determine grasping force of each finger. The space position information must be obtained to compute grasping force by using this method. However, for prosthetic hand, the space position is hardly to get because angle sensors cannot be used. Thus dynamics model of tendon-driven prosthetic hand is built and solved by using the finite difference method and newton iteration algorithm base on the information of motor. Numerical simulation demonstrates that the method realizes the goal of calculating position approximately in real time and verifies the high efficiency and enough accuracy of the method.
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Proceedings
2015 International Conference on Test, Measurement and Computational Methods
Part of series
Advances in Computer Science Research
Publication Date
November 2015
ISBN
978-94-6252-132-2
ISSN
2352-538X
DOI
https://doi.org/10.2991/tmcm-15.2015.16How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Rong Wang
AU  - Xiaogang Duan
AU  - Hua Deng
PY  - 2015/11
DA  - 2015/11
TI  - Grasping Position Estimation for Prosthetic Hand
BT  - 2015 International Conference on Test, Measurement and Computational Methods
PB  - Atlantis Press
SP  - 62
EP  - 65
SN  - 2352-538X
UR  - https://doi.org/10.2991/tmcm-15.2015.16
DO  - https://doi.org/10.2991/tmcm-15.2015.16
ID  - Wang2015/11
ER  -