Power Grasping of a Prosthetic Hand based upon Virtual Spring-Damper Hypothesis

A. Fassih, D.S. Naidu, S. Chiu, and M.P. Schoen (USA)


Medical Robotics, Control, Power Grasping, Prosthetic Hand Control.


A control scheme for achieving object power grasping by a prosthetic hand is proposed. The control scheme is based on defining virtual spring-damper between finger tip and desired point, and a semi circular path for finger tip. It is shown that the suggested control scheme provides satisfactory performance in power grasping of prosthetic hand, without the need for additional complexity regarding equations for inverse kinematics, or inverse dynamics, and the information on tactile or force sensing or even object shape.

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