If desired force decoded by biological signals of prosthetic hand is too large, the soft object may produce undesired deformation or damaged. In order to reduce this phenomenon, the excessive grasping force needs to be limited. Based on contact-impact force model, a fuzzy logic system for stiffness estimation determined by contact force and its gradient is presented. In order to avoid undesired deformation, the maximum grasping force of the soft object is set up by experimental data. Then, a fuzzy control model is proposed to modify initial desired force. The experiment results are presented to demonstrate effectiveness of the proposed method.
['Yi Zhang', 'Xiao-Gang Duan', 'Hua Deng']
A Method to Modify Initial Desired Force of Prosthetic Hand Based on Stiffness Estimation