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

• Main Authors: Farag, Mohannad, Zainul Azlan, Norsinnira, Alsibai, Mohammed Hayyan, Abd Ghafar, Abdul Nasir
• Format: Conference or Workshop Item
• Language: English; English; English
• Published: Association for Computing Machinery 2019
• Subjects: TJ Mechanical engineering and machinery
• Online Access: 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; http://irep.iium.edu.my/76176/

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...