Automatic prehension using an accelerometer and force sensor
Controlling gripping force and object slippage is one of the main concerns in the prosthetic hand system. This paper describes a basic equation on a gripping force of an object in one dimension that has been formulated, where the time and the acceleration profiles are defined for holding the object...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2005
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| Online Access: | http://psasir.upm.edu.my/id/eprint/38985/ http://psasir.upm.edu.my/id/eprint/38985/1/38985.pdf |
| _version_ | 1848849022717001728 |
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| author | Ahmad, Siti Anom Chappell, Paul H. Ali, Mohd Liakot |
| author_facet | Ahmad, Siti Anom Chappell, Paul H. Ali, Mohd Liakot |
| author_sort | Ahmad, Siti Anom |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | Controlling gripping force and object slippage is one of the main concerns in the prosthetic hand system. This paper describes a basic equation on a gripping force of an object in one dimension that has been formulated, where the time and the acceleration profiles are defined for holding the object securely. An accelerometer and force sensor system has been developed to monitor the gripping force and also sense the displacement of the object slippage. The acceleration when the object slips is observed and is double integrated to determine the velocity and then the distance. Experimental results are presented for the acceleration and the subsequent integrations. Having the necessary components identified, built and tested, the apparatus can be used to investigate automatic control algorithms for secure grips on objects. |
| first_indexed | 2025-11-15T09:43:47Z |
| format | Conference or Workshop Item |
| id | upm-38985 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T09:43:47Z |
| publishDate | 2005 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-389852016-12-02T04:44:37Z http://psasir.upm.edu.my/id/eprint/38985/ Automatic prehension using an accelerometer and force sensor Ahmad, Siti Anom Chappell, Paul H. Ali, Mohd Liakot Controlling gripping force and object slippage is one of the main concerns in the prosthetic hand system. This paper describes a basic equation on a gripping force of an object in one dimension that has been formulated, where the time and the acceleration profiles are defined for holding the object securely. An accelerometer and force sensor system has been developed to monitor the gripping force and also sense the displacement of the object slippage. The acceleration when the object slips is observed and is double integrated to determine the velocity and then the distance. Experimental results are presented for the acceleration and the subsequent integrations. Having the necessary components identified, built and tested, the apparatus can be used to investigate automatic control algorithms for secure grips on objects. 2005 Conference or Workshop Item NonPeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/38985/1/38985.pdf Ahmad, Siti Anom and Chappell, Paul H. and Ali, Mohd Liakot (2005) Automatic prehension using an accelerometer and force sensor. In: International Advanced Technology Congress: Conference on Intelligent Systems and Robotics, 6-8 Dec. 2005, Putrajaya, Malaysia. . |
| spellingShingle | Ahmad, Siti Anom Chappell, Paul H. Ali, Mohd Liakot Automatic prehension using an accelerometer and force sensor |
| title | Automatic prehension using an accelerometer and force sensor |
| title_full | Automatic prehension using an accelerometer and force sensor |
| title_fullStr | Automatic prehension using an accelerometer and force sensor |
| title_full_unstemmed | Automatic prehension using an accelerometer and force sensor |
| title_short | Automatic prehension using an accelerometer and force sensor |
| title_sort | automatic prehension using an accelerometer and force sensor |
| url | http://psasir.upm.edu.my/id/eprint/38985/ http://psasir.upm.edu.my/id/eprint/38985/1/38985.pdf |