Using accelerometers to analyse slip for prosthetic application

作者：Lowe R J^*; Chappell P H; Ahmad S A

来源：Measurement Science and Technology, 2010, 21(3): 035203.

DOI：10.1088/0957-0233/21/3/035203

• artificial hands
• slip
• accelerometer
• prosthetics

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.

• 出版日期2010-3