Robotic Hand Acceleration Feedback to Synergistically Prevent Grasped Object Slip

Abstract

A control framework is proposed that autonomously modulates a dexterous grasp synergy to proactively prevent grasped object slip. The proposed controller offers a practical means of preventing slip in uncertain environments, such as upper-limb prosthetics applications. The controller was evaluated with slip prevention experiments in which a dexterous manipulator grasped four separate objects and was subsequently excited by a robotic arm. Results showed that the proposed strategy significantly reduced grasped object slip.