Current Search: Engeberg, Erik (x)
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- Title
- Hand Orientation Feedback for Grasped Object Slip Prevention with a Prosthetic Hand.
- Creator
- Ray, Zachary, Engeberg, Erik, Graduate College
- Abstract/Description
-
Many myoelectric prosthetic hands do not allow simultaneous control of the wrist joint and grip force of grasped objects. This scenario can lead to frustrating situations where objects are inadvertently dropped as the user cannot directly feel if there is a sufficient grip force to prevent slip as the object is being rotated by the wrist. The goal for this project is to investigate the performance of a non-invasive control scheme used to adjust precision grip of a prosthetic hand based on its...
Show moreMany myoelectric prosthetic hands do not allow simultaneous control of the wrist joint and grip force of grasped objects. This scenario can lead to frustrating situations where objects are inadvertently dropped as the user cannot directly feel if there is a sufficient grip force to prevent slip as the object is being rotated by the wrist. The goal for this project is to investigate the performance of a non-invasive control scheme used to adjust precision grip of a prosthetic hand based on its orientation. Grasping capabilities of a prosthetic hand adapted with sliding mode control were investigated with and without grip-plane orientation feedback, GOF. Benchmark tests involved using the automated control system to grasp a number of common objects varying in shape, texture, and weight, including a foam ball, soda can, paintbrush, copper tube, and compliant sheet metal, with a precision grip, and repeatedly rotate it in and out of the plane of gravity. Benchmark test results showed a significant improvement of the performance metric using GOF. EMG sensors which controlled the hand’s grip action were placed on the forearm of 12 human subjects. An object designed to be repeatedly breakable was grasped and rotated as before. Break and drop failures were recorded while the subjects performed with and without the aid of GOF while either focusing on the test or distracted with a part sorting task. From the testing procedure, GOF offered an effective method for reducing object drops while maintaining a minimum grip force.
Show less - Date Issued
- 2015
- PURL
- http://purl.flvc.org/fau/fd/FA00005910
- Format
- Document (PDF)
- Title
- Limited Movement Assistant for Arthritic Hands (LMAAH).
- Creator
- Pipitone, Anthony, Foley, Michael, Ferouz, Amir, McAlistar, Jonathan, Engeberg, Erik, College of Engineering and Computer Science
- Abstract/Description
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The purpose of this project is to create a mobile remote controller that operates a mechanical device that plays the piano. We have in our means to design a finger and wrist system that can play every key on the piano. The group has created 4 fingers that play the piano by pulling tendons on a robotic hand. The remote input device is a gloved sensor fitted with flexing sensors that monitor an arthritic patient’s joint movement. The controller then sends the signal to be amplified to a normal...
Show moreThe purpose of this project is to create a mobile remote controller that operates a mechanical device that plays the piano. We have in our means to design a finger and wrist system that can play every key on the piano. The group has created 4 fingers that play the piano by pulling tendons on a robotic hand. The remote input device is a gloved sensor fitted with flexing sensors that monitor an arthritic patient’s joint movement. The controller then sends the signal to be amplified to a normal full range of motion. That signal is sent to the robotic hand which plays the piano. Linear movement of the wrist is transferred with a sliding device. This project was a success and actually was able to assist people in remotely playing a scale on the piano.
Show less - Date Issued
- 2015
- PURL
- http://purl.flvc.org/fau/fd/FA00005206
- Subject Headings
- College students --Research --United States.
- Format
- Document (PDF)
- Title
- Dorsal root ganglia neurite outgrowth measured as a function of changes in microelectrode array resistance.
- Creator
- Jordan M. Renna, Jessica M. Stukel, Rebecca Kuntz Willits, Erik D. Engeberg
- Abstract/Description
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Current research in prosthetic device design aims to mimic natural movements using a feedback system that connects to the patient's own nerves to control the device. The first step in using neurons to control motion is to make and maintain contact between neurons and the feedback sensors. Therefore, the goal of this project was to determine if changes in electrode resistance could be detected when a neuron extended a neurite to contact a sensor. Dorsal root ganglia (DRG) were harvested from...
Show moreCurrent research in prosthetic device design aims to mimic natural movements using a feedback system that connects to the patient's own nerves to control the device. The first step in using neurons to control motion is to make and maintain contact between neurons and the feedback sensors. Therefore, the goal of this project was to determine if changes in electrode resistance could be detected when a neuron extended a neurite to contact a sensor. Dorsal root ganglia (DRG) were harvested from chick embryos and cultured on a collagencoated carbon nanotube microelectrode array for two days. The DRG were seeded along one side of the array so the processes extended across the array, contacting about half of the electrodes. Electrode resistance was measured both prior to culture and after the two day culture period. Phase contrast images of the microelectrode array were taken after two days to visually determine which electrodes were in contact with one or more DRG neurite or tissue. Electrodes in contact with DRG neurites had an average change in resistance of 0.15 MΩ compared with the electrodes without DRG neurites. Using this method, we determined that resistance values can be used as a criterion for identifying electrodes in contact with a DRG neurite. These data are the foundation for future development of an autonomous feedback resistance measurement system to continuously monitor DRG neurite outgrowth at specific spatial locations.
Show less - Date Issued
- 2017
- PURL
- http://purl.flvc.org/fau/fd/FAUIR000503
- Format
- Document (PDF)
- Title
- Free Swimming Soft Robotic Jellyfish with Adaptive Depth Control.
- Creator
- Luvisi, Daniel, Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
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This thesis is encompasses the design, construction, control and testing of an improvement upon the novel soft robotic Jennifish platform. The advancement of this platform includes the addition of light and depth sensors as well increasing the separation of tentacle groups from two to three sets. The final vehicle model consists nine PneuNetstyle actuators divided into three groups of three, molded around a machined Delrin pressure vessel. With a 12V submersible impellor pump connected to...
Show moreThis thesis is encompasses the design, construction, control and testing of an improvement upon the novel soft robotic Jennifish platform. The advancement of this platform includes the addition of light and depth sensors as well increasing the separation of tentacle groups from two to three sets. The final vehicle model consists nine PneuNetstyle actuators divided into three groups of three, molded around a machined Delrin pressure vessel. With a 12V submersible impellor pump connected to each actuator grouping, propulsion is created by the filling and emptying of these tentacles with surrounding ambient water. The Jellyfish2.0 is capable of omnidirectional lateral movement as well as upward driven motion. The vehicle also has a temperature sensor and IMU as did the previous of this platform. Qualitative free-swimming testing was conducted, recorded and analyzed as well as quantitative inline load cell testing, to create a benchmark for comparison with other jellyfish like robots.
Show less - Date Issued
- 2019
- PURL
- http://purl.flvc.org/fau/fd/FA00013234
- Subject Headings
- Robotics--Design and construction, Soft robotics, Coral reef ecology, Coral reef monitoring
- Format
- Document (PDF)
- Title
- Interfacing and Control of Artificial Hands.
- Creator
- Ingicco, Joseph, Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
This thesis discusses three projects that revolve around the central concept of the control of artificial hands. The first part of the thesis discusses the design of a museum exhibit for the South Florida Science Center that allows the public to control an i-limb Revolution prosthetic hand using electromyograph (EMG) sensors. A custom armature was designed to house the EMG sensors that are used to control the prosthesis. The top arm of the armature utilized a double rocker design for a...
Show moreThis thesis discusses three projects that revolve around the central concept of the control of artificial hands. The first part of the thesis discusses the design of a museum exhibit for the South Florida Science Center that allows the public to control an i-limb Revolution prosthetic hand using electromyograph (EMG) sensors. A custom armature was designed to house the EMG sensors that are used to control the prosthesis. The top arm of the armature utilized a double rocker design for a greater range of motion which allows the display to accommodate arm sizes ranging from small children to large adults. This display became open to the public in March of 2019. The second part of the thesis describes a new concept for a simultaneous multi-object grasp using the Shadow hand robotic hand. This grasp is tested in an experiment that involves grasp and transportation tasks. This experiment also aims to analyze the benefit of soft robotic haptic feedback armband during the grasp and transportation tasks when a simulated break threshold is imposed on the objects. The usefulness of the haptic feedback was further tested with a guess the object task where the subjects had to determine which object was in the hand based solely off the armband. The new grasp synergy was deemed a success as all subjects were able to use the control method effectively with very little initial training. It was also found that the haptic feedback greatly aided in the successfully completing the transportation tasks. The human subjects were asked to rate the haptic feedback after each task, the overall rating for the helpfulness of the haptic feedback was rated as 4.6 out of 5. The final part of the thesis discusses an approach at gaining additional control signals for a dexterous artificial hand using a brain computer interface. This project seeks to investigate three neuromarkers for control which are: mu, xi and alpha. During analysis, the mu rhythm was not seen in our subject but alpha and xi were. Using deep learning approaches at classification, we were able to classify alpha and xi with at least a 90 percent accuracy.
Show less - Date Issued
- 2019
- PURL
- http://purl.flvc.org/fau/fd/FA00013318
- Subject Headings
- Artificial hands, Haptic interfaces, Electromyography, Brain-computer interfaces
- Format
- Document (PDF)
- Title
- Study on Reinforced Soft Actuator for Exoskeleton Actuators.
- Creator
- Shuqir, Mohammad, Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
This thesis concerns the design, construction, control, and testing of soft robotic actuators to be used in a soft robotic exoskeleton; the Boa Exoskeleton could be used for joint rehabilitation including: wrist, elbow and possibly shoulder or any joint that requires a soft body actuator to aid with bending movement. We detail the design, modeling and fabrication of two types of actuators: Fiber-reinforced Actuator and PneuNet Actuator. Fiber-Reinforced actuator was chosen for the exoskeleton...
Show moreThis thesis concerns the design, construction, control, and testing of soft robotic actuators to be used in a soft robotic exoskeleton; the Boa Exoskeleton could be used for joint rehabilitation including: wrist, elbow and possibly shoulder or any joint that requires a soft body actuator to aid with bending movement. We detail the design, modeling and fabrication of two types of actuators: Fiber-reinforced Actuator and PneuNet Actuator. Fiber-Reinforced actuator was chosen for the exoskeleton due to its higher force. The Fiber-Reinforced actuator molds were 3D printed, four models were made. Two materials were used to fabricate the models: Dragon Skin 30A and Sort-A-Clear 40A. Two number of windings: (n=40) and (n=25), actuators wrapped with carbon fiber. An air tank was used to supply pressure. The actuators were studied at different pressures. Pressure-force relation was studied, and a close to linear relationship was found. Boa Exoskeleton was made for wrist. Electromyography (EMG) was used; Four EMG receptors were put around the arm. EMG was utilized to actuate the Boa Exoskeleton and record the muscle movement. Five tests were done on six human subjects to validate the Boa Exoskeleton.
Show less - Date Issued
- 2018
- PURL
- http://purl.flvc.org/fau/fd/FA00013098
- Subject Headings
- Actuators--Design and construction., Robotic exoskeletons., Actuators--Materials.
- Format
- Document (PDF)
- Title
- Semi-Autonomous Control of Robotic Arm with Haptic Feedback and Closed Loop Force Controller.
- Creator
- Al-Saidi, Mostapha, Engeberg, Erik, Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
- Abstract/Description
-
This thesis presents the work done to deliver a robotic system that provides assistance to operators at nuclear waste cleaning facilities. The work done to deliver such system was focused on robotic control and tactile sensing abilities. Haptic feedback mechanism was also added to the system to convey information for the operator. First chapter of the thesis introduces the goals and objectives of this project as well as a detailed literature review on the subsystems used. Second chapter...
Show moreThis thesis presents the work done to deliver a robotic system that provides assistance to operators at nuclear waste cleaning facilities. The work done to deliver such system was focused on robotic control and tactile sensing abilities. Haptic feedback mechanism was also added to the system to convey information for the operator. First chapter of the thesis introduces the goals and objectives of this project as well as a detailed literature review on the subsystems used. Second chapter presents previous work done in the area of soft robotics. Such work proved important as the haptic feedback mechanism utilizes a soft robotic armband. Third chapter introduces phase one of the main project. This chapter justifies the use of the selected robots and introduces the concept of adding tactile abilities to the robotic hand used. Chapter four introduces phase two of the project that focused on improving phase one system via a new tactile sensor.
Show less - Date Issued
- 2019
- PURL
- http://purl.flvc.org/fau/fd/FA00013353
- Subject Headings
- Robotics, Haptic devices, Actuators, Tactile sensors
- Format
- Document (PDF)
- Title
- Self-Contained Soft Robotic Jellyfish with Water-Filled Bending Actuators and Positional Feedback Control.
- Creator
- Frame, Jennifer, Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
This thesis concerns the design, construction, control, and testing of a novel self-contained soft robotic vehicle; the JenniFish is a free-swimming jellyfish-like soft robot that could be adapted for a variety of uses, including: low frequency, low power sensing applications; swarm robotics; a STEM classroom learning resource; etc. The final vehicle design contains eight PneuNet-type actuators radially situated around a 3D printed electronics canister. These propel the vehicle when inflated...
Show moreThis thesis concerns the design, construction, control, and testing of a novel self-contained soft robotic vehicle; the JenniFish is a free-swimming jellyfish-like soft robot that could be adapted for a variety of uses, including: low frequency, low power sensing applications; swarm robotics; a STEM classroom learning resource; etc. The final vehicle design contains eight PneuNet-type actuators radially situated around a 3D printed electronics canister. These propel the vehicle when inflated with water from its surroundings by impeller pumps; since the actuators are connected in two neighboring groups of four, the JenniFish has bi-directional movement capabilities. Imbedded resistive flex sensors provide actuator position to the vehicle’s PD controller. Other onboard sensors include an IMU and an external temperature sensor. Quantitative constrained load cell tests, both in-line and bending, as well as qualitative free-swimming video tests were conducted to find baseline vehicle performance capabilities. Collected metrics compare well with existing robotic jellyfish.
Show less - Date Issued
- 2016
- PURL
- http://purl.flvc.org/fau/fd/FA00004656, http://purl.flvc.org/fau/fd/FA00004656
- Subject Headings
- Adaptive control systems, Artificial intelligence, Autonomous robots, Computational intelligence, Robotics
- Format
- Document (PDF)
- Title
- Human-Inspired Robotic Hand-Eye Coordination.
- Creator
- Olson, Stephanie T., Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
My thesis covers the design and fabrication of novel humanoid robotic eyes and the process of interfacing them with the industry robot, Baxter. The mechanism can reach a maximum saccade velocity comparable to that of human eyes. Unlike current robotic eye designs, these eyes have independent left-right and up-down gaze movements achieved using a servo and DC motor, respectively. A potentiometer and rotary encoder enable closed-loop control. An Arduino board and motor driver control the...
Show moreMy thesis covers the design and fabrication of novel humanoid robotic eyes and the process of interfacing them with the industry robot, Baxter. The mechanism can reach a maximum saccade velocity comparable to that of human eyes. Unlike current robotic eye designs, these eyes have independent left-right and up-down gaze movements achieved using a servo and DC motor, respectively. A potentiometer and rotary encoder enable closed-loop control. An Arduino board and motor driver control the assembly. The motor requires a 12V power source, and all other components are powered through the Arduino from a PC. Hand-eye coordination research influenced how the eyes were programmed to move relative to Baxter’s grippers. Different modes were coded to adjust eye movement based on the durability of what Baxter is handling. Tests were performed on a component level as well as on the full assembly to prove functionality.
Show less - Date Issued
- 2018
- PURL
- http://purl.flvc.org/fau/fd/FA00013091
- Subject Headings
- Baxter., Robot vision., Robotics--Design and construction., Eye-hand coordination.
- Format
- Document (PDF)
- Title
- Soft Robotics: Fiber Reinforced Soft Pneumatic Multidirectional Manipulators, Designing, Fabricating, and Testing.
- Creator
- Holdar, Mohammad, Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
Traditional robots are made from hard materials like hard plastic or metal and consist of regular rigid mechanical parts. Using those parts has some limitations, like limited dexterity and lack of flexibility. Some of these limitations could be avoided through using a compliant material, because it has higher flexibility and dexterity. It is also safer to be in direct contact with humans. This thesis studies soft pneumatic manipulators (SPMs) that move in multi degrees of freedom (MDOF),...
Show moreTraditional robots are made from hard materials like hard plastic or metal and consist of regular rigid mechanical parts. Using those parts has some limitations, like limited dexterity and lack of flexibility. Some of these limitations could be avoided through using a compliant material, because it has higher flexibility and dexterity. It is also safer to be in direct contact with humans. This thesis studies soft pneumatic manipulators (SPMs) that move in multi degrees of freedom (MDOF), which makes them able to perform various functions. The study will include designing, fabricating, and testing three different SPMs with different taper angles -- 0^0, 1^0, and 2^0 -- to measure the effect of varying this geometry on the achievable force by the end effector and the range of bending and elongation. Every single SPM consists of three soft pneumatic chambers to reach unlimited points on its workspace through implementing bending and elongating movements. There are a lot of applications for this kind of soft actuators, like rehabilitation, underwater utilizes, and robots for surgery and rescues. Most soft pneumatic actuators provide one kind of movement, for bending, twisting, or elongating. Combining more than one kind of movement in one soft pneumatic actuator provides considerable contributions to the body of research. The SPMs were controlled and tested to evaluate the achieved force and two kinds of movement, bending and elongating range. The results of each module has been compared with the others to determine which actuator has the best performance. Then a force controller was created to maintain the desired force that was achieved by the end effector. The results indicated that the optimal angle of the SPM was 2^0.
Show less - Date Issued
- 2018
- PURL
- http://purl.flvc.org/fau/fd/FA00013030
- Subject Headings
- Robotics, Pneumatic control, Actuators--Design and construction, Soft robotics
- Format
- Document (PDF)
- Title
- Embodied Biological Computers: Closing The Loop on Sensorimotor Integration of Dexterous Robotic Hands.
- Creator
- Ades, Craig, Engeberg, Erik D., Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
- Abstract/Description
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The sensation of touch is an integral part of using our hands. As different researchers work toward the restoration of afferent sensation in prosthetic hands, it becomes urgent to better understand how an artificial hand’s afferent inputs are affected by the efferent muscular outputs, and vice-versa. Current methods of neuroprosthetic research have many regulatory hurdles, time, cost, and associated risk to the patient. To circumvent these hurdles, we developed a non-invasive, closed-loop (CL...
Show moreThe sensation of touch is an integral part of using our hands. As different researchers work toward the restoration of afferent sensation in prosthetic hands, it becomes urgent to better understand how an artificial hand’s afferent inputs are affected by the efferent muscular outputs, and vice-versa. Current methods of neuroprosthetic research have many regulatory hurdles, time, cost, and associated risk to the patient. To circumvent these hurdles, we developed a non-invasive, closed-loop (CL) neuroprosthetic research platform, integrating artificial tactile signals from an artificial hand with biomimetically-stimulated biological neuronal networks (BNNs) cultured in a multielectrode array (MEA) chamber. These living embodied biological computers (EBCs) can provide a non-invasive alternative for investigating invasive neuroprosthetic interfaces. With them we can explore a variety of control techniques, tactile sensation encoding methods, and neural decoding methods to increase the rate of research in this area with minimal regulatory approval, greatly reduced cost and time, and no risk to the patients. In the first stage of this integration, our EBC was programmed to embody neuronal spiking from spontaneously active “efferent” receptive fields in cultured BNNs as intentional signals for movement. Bursts were transferred to a robotic hand and initiated a tapping motion of the index finger laid in proximity to a surface. Contact elicited artificial sensations, which were registered by a biotac tactile sensor array fit to the robotic fingertip.
Show less - Date Issued
- 2022
- PURL
- http://purl.flvc.org/fau/fd/FA00014092
- Subject Headings
- Artificial hands, Neuroprostheses, Neurotechnology (Bioengineering), Robotics
- Format
- Document (PDF)
- Title
- Feeling the beat: a smart hand exoskeleton for learning to play musical instruments.
- Creator
- Maohua Lin, Rudy Paul, Moaed Abd, James Jones, Darryl Dieujuste, Harvey Chim, Erik D. Engeberg
- Abstract/Description
-
Individuals who have suffered neurotrauma like a stroke or brachial plexus injury often experience reduced limb functionality. Soft robotic exoskeletons have been successful in assisting rehabilitative treatment and improving activities of daily life but restoring dexterity for tasks such as playing musical instruments has proven challenging. This research presents a soft robotic hand exoskeleton coupled with machine learning algorithms to aid in relearning how to play the piano by ‘feeling’...
Show moreIndividuals who have suffered neurotrauma like a stroke or brachial plexus injury often experience reduced limb functionality. Soft robotic exoskeletons have been successful in assisting rehabilitative treatment and improving activities of daily life but restoring dexterity for tasks such as playing musical instruments has proven challenging. This research presents a soft robotic hand exoskeleton coupled with machine learning algorithms to aid in relearning how to play the piano by ‘feeling’ the difference between correct and incorrect versions of the same song. The exoskeleton features piezoresistive sensor arrays with 16 taxels integrated into each fingertip. The hand exoskeleton was created as a single unit, with polyvinyl acid (PVA) used as a stent and later dissolved to construct the internal pressure chambers for the five individually actuated digits. Ten variations of a song were produced, one that was correct and nine containing rhythmic errors. To classify these song variations, Random Forest (RF), K-Nearest Neighbor (KNN), and Artificial Neural Network (ANN) algorithms were trained with data from the 80 taxels combined from the tactile sensors in the fingertips. Feeling the differences between correct and incorrect versions of the song was done with the exoskeleton independently and while the exoskeleton was worn by a person. Results demonstrated that the ANN algorithm had the highest classification accuracy of 97.13% ± 2.00% with the human subject and 94.60% ± 1.26% without. These findings highlight the potential of the smart exoskeleton to aid disabled individuals in relearning dexterous tasks like playing musical instruments.
Show less - Date Issued
- 2023
- PURL
- http://purl.flvc.org/fau/fd/FAUIR000534
- Format
- Document (PDF)
- Title
- ARTIFICIAL INTELLIGENCE (AI) ENABLES SENSORIMOTOR INTEGRATION FOR PROSTHETIC HAND DEXTERITY.
- Creator
- Abd, Moaed A., Engeberg, Erik D., Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
- Abstract/Description
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Hand amputation is a devastating feeling for amputees, and it is lifestyle changing since it is challenging to perform the basic life activities with amputation. Hand amputation means interrupting the closed loop between sensory feedback and motor control. The absence of sensory feedback requires a significant cognitive effort from the amputee to perform basic daily activities with prosthetic hand. Loss of tactile sensations is a major roadblock preventing amputees from multitasking or using...
Show moreHand amputation is a devastating feeling for amputees, and it is lifestyle changing since it is challenging to perform the basic life activities with amputation. Hand amputation means interrupting the closed loop between sensory feedback and motor control. The absence of sensory feedback requires a significant cognitive effort from the amputee to perform basic daily activities with prosthetic hand. Loss of tactile sensations is a major roadblock preventing amputees from multitasking or using the full dexterity of their prosthetic hands. One of the most significant features lacking from commercial prosthetic hands is sensory feedback, according to amputees. Many amputees abandoned their prosthetic devices due to the lack of tactile feedback. In the field of prosthetics, restoring sensory feedback is the most challenging task due to the complexity of integration between the prosthetic and the peripheral nervous system. A prosthetic hand with sensory feedback that imitates the intact hand would improve the lives of millions of amputees worldwide by inducing the prosthetic hand to be a part of the body image and significant impact the control of the prosthetic. To restore the sensory feedback and improve the dexterity for upper limb amputee, multiple components needed to be integrated together to provide the sensory feedback. Tactile sensors are the first components that needed to be integrated into the sensorimotor loop. In this research two tactile sensors were integrated in the sensory feedback loop. The first tactile sensor is BioTac which is a commercially available sensor. The first novel contribution with BioTac is the development of an ANN classifier to detect the direction a grasped object slips in a dexterous robotic hand in real time, and the second novel aspect of this study is the use of slip direction detection for adaptive robotic grasp reflexes. The second tactile sensor is the liquid metal sensor (LMS), this sensor was developed entirely in our lab (BioRobotics lab). The novel contribution for LMS is to detect and prevent slip in real time application, and to recognize different surface features and different sliding speeds.
Show less - Date Issued
- 2022
- PURL
- http://purl.flvc.org/fau/fd/FA00013875
- Subject Headings
- Artificial intelligence, Haptic devices, Tactile sensors, Sensorimotor integration, Artificial hands
- Format
- Document (PDF)