Slippage detection for grasping force control of robotic hand using force sensing resistors

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Slippage detection for grasping force control of robotic hand using force sensing resistors

This paper presents the formulation of a nonlinear adaptive backstepping force control in grasping weight-varying objects using robotic hand driven by Pneumatic Artificial Muscle (PAM). The modelling and control problems arise from the high nonlinear PAM dynamics and the inherent hysteresis leadi...

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Bibliographic Details
Main Authors:	Farag, Mohannad, Zainul Azlan, Norsinnira, Alsibai, Mohammed Hayyan, Abd Ghafar, Abdul Nasir
Format:	Proceeding Paper
Language:	English English English
Published:	Association for Computing Machinery 2019
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://irep.iium.edu.my/76176/ http://irep.iium.edu.my/76176/1/76176_Slippage%20detection%20for%20grasping%20force.pdf http://irep.iium.edu.my/76176/2/76176_Slippage%20detection%20for%20grasping%20force_SCOPUS.pdf http://irep.iium.edu.my/76176/13/76176_Slippage%20detection%20for%20grasping%20force_WOS.pdf

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