Abstract
A force planning and control method is proposed for a tendon-driven anthropomorphic prosthetic hand. It is necessary to consider grasping stability for the anthropomorphic prosthetic hand with multi degrees of freedom which aims to mimic human hands with dexterity and stability. The excellent grasping performance of the anthropomorphic prosthetic hand mainly depends on the accurate computation of the space position of finger tips and an appropriate grasping force planning strategy. After the dynamics model of the tendon-driven anthropomorphic prosthetic hand is built, the space positions of the finger tips are calculated in real time by solving the dynamic equations based on the Newton iteration algorithm with sufficient accuracy. Then, the balance of internal grasping force on the thumb is adopted instead of force closure of the grasped objects to plan the grasping forces of other fingers based on the method of the linear constraint gradient flow in real time. Finally, a fuzzy logic controller is used to control the grasping force of the prosthetic hand. The proposed force planning and control method is implemented on the tendon-driven anthropomorphic prosthetic hand and the experimental results demonstrate the feasibility and effectiveness of the proposed method.
Similar content being viewed by others
References
Wang X Q, Liu Y W, Jiang L, Yang D P, Li N, Liu H. Design and control of a coupling mechanism-based prosthetic hand. Journal of Shanghai Jiaotong University (Science), 2010, 15, 571–577.
Gao F, Deng H, Zhang Y. Hybrid actuator combining shape memory alloy with DC motor for prosthetic fingers. Sensors & Actuators A Physical, 2015, 223, 40–48.
Bahari M S, Jaffar A, Cheng Y L, Jaafar R, Roese K, Yussof H. Design and development of a multifingered prosthetic hand. International Journal of Social Robotics, 2012, 4, 59–66.
Wang N, Lao K, Zhang X. Design and myoelectric control of an anthropomorphic prosthetic hand. Journal of Bionic Engineering, 2017, 14, 47–59.
Yang D, Jiang L, Huang Q, Liu R, Liu H. Experimental study of an EMG-controlled 5-DOF anthropomorphic prosthetic hand for motion restoration. Journal of Intelligent & Robotic Systems, 2014, 76, 427–441.
Liu H, Yang D, Jiang L, Fan S. Development of a multi-DOF prosthetic hand with intrinsic actuation, intuitive control and sensory feedback. Industrial Robot, 2014, 41, 381–392.
Oliver-Salazar M A, Szwedowic-Wasik D, Blanco-Ortega A, Acevedo-Acevedo F, Ruiz-Gonzalez R. Characterization of pneumatic muscles and their use for the position control of a mechatronic finger. Mechatronics, 2017, 42, 25–40.
Buss M, Hashimoto H, Moore J B. Dextrous hand grasping force optimization. IEEE Transactions on Robotics & Automation, 1996, 12, 406–418.
Wu J B, Zhang T, Wu Q, Liu B, Song W. Target positioning and tracking system via binocular vision. International Conference on Intelligent Control and Information Processing, 2011, Harbin, China, 988–992.
Shirinzadeh B, Teoh P L, Tian Y, Dalvand M M, Zhong Y, Liaw H C. Laser interferometry-based guidance methodology for high precision positioning of mechanisms and robots. Robotics and Computer - Integrated Manufacturing, 2010, 26, 74–82.
Zhang Y, Li W, Yu X, Wu H, Li J. Encoder based online motion planning and feedback control of redundant manipulators. Control Engineering Practice, 2013, 21, 1277–1289.
Jung S Y, Kang S K, Lee M J, Moon I. Design of robotic hand with tendon-driven three fingers. IEEE International Conference on Control, Automation and Systems, Seoul, South Korea, 2007, 83–86.
Daoud N, Gazeau J P, Zeghloul S, Arsicault M. A real-time strategy for dexterous manipulation: Fingertips motion planning, force sensing and grasp stability. Robotics and Autonomous Systems, 2012, 60, 377–386.
Liu Y H. Qualitative test and force optimization of 3-D frictional form-closure grasps using linear programming. IEEE Transactions on Robotics & Automation, 1999, 15, 163–173.
Bicchi A. On the closure properties of robotic grasping. International Journal of Robotics Research, 1995, 14, 319–334.
Ma J, Wang M Y, Zhu X Y. On the analysis of force closure and force optimization in fixtures and robotic manipulation. Proceedings of the Institution of Mechanical Engineers Part B Journal of Engineering Manufacture, 2012, 226, 624–626.
Nguyen V D. Constructing force-closure grasps. International Journal of Robotics Research, 1988, 7, 3–16.
Kerr J. Analysis of multifingered hands. International Journal of Robotics Research, 1986, 4, 3–17.
Castellini C, Gruppioni E, Davalli A, Sandini G. Fine detection of grasp force and posture by amputees via surface electromyography. Journal of Physiology-Paris, 2009, 103, 255–262.
Chen W R, Xiong C H. On adaptive grasp with underactuated anthropomorphic hands. Journal of Bionic Engineering, 2016, 13, 59–72.
Nakamura Y, Nagai K, Yoshikawa T. Dynamics and stability in coordination of multiple robotic mechanisms. International Journal of Robotics Research, 1989, 8, 44–61.
Deng H, Zhang Y, Duan X G. Wavelet transformation-based fuzzy reflex control for prosthetic hands to prevent slip. IEEE Transations on Industrial Electronics, 2017, 64, 3718–3726.
Li H X, Gatland H B, Green A W. Fuzzy variable structure control. IEEE Transactions on Systems Man & Cybernetics - Part B: Cybernetics, 1997, 27, 306–312.
Duan X G, Deng H, Li H X. A saturation-based tuning method for fuzzy PID controller. IEEE Transactions on Industrial Electronics, 2013, 60, 5177–5185.
Zollo L, Roccella S, Guglielmelli E, Carrozza M C, Dario P. Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic and robotic applications. IEEE/ASME Transactions on Mechatronics, 2007, 12, 418–429.
Wang R, Duan X G, Deng H. Grasping position estimation for prosthetic hand. International Conference on Test, Measurement and Computational Methods, 2015, 62–65.
Luo H, Duan X G, Deng H. Sliding mode impedance control of an underactuated prosthetic hand. IEEE International Conference on Information and Automation, Hailar, China, 2014, 726–729.
Wu X, Wu J. Iterative refinement of computing inverse matrix. International Journal of Computer Mathematics, 2009, 86, 1126–1134.
He J, Luo M Z, Zhang Q Q, Zhao J H, Xu L S. Adaptive fuzzy sliding mode controller with nonlinear observer for redundant manipulators handling varying external force. Journal of Bionic Engineering, 2016, 13, 600–611.
Buss M, Hashimoto H, Moore J B. Dextrous hand grasping force optimization. IEEE Transactions on Robotics &Automation, 2002, 12, 406–418.
Zhang Y, Deng H, Zhong G L. Humanoid design of mechanical fingers using a motion coupling and shape-adaptive linkage mechanism. Journal of Bionic Engineering, 2018, 15, 94–105.
Schmidts A M, Lee D, Peer A. Imitation learning of human grasping skills from motion and force data. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, 2011, 1002–1007.
Acknowledgment
This work was supported by National Basic Research Program of China (Grant No. 2011CB013302).
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Deng, H., Luo, H., Wang, R. et al. Grasping Force Planning and Control for Tendon-driven Anthropomorphic Prosthetic Hands. J Bionic Eng 15, 795–804 (2018). https://doi.org/10.1007/s42235-018-0067-z
Published:
Issue Date:
DOI: https://doi.org/10.1007/s42235-018-0067-z