UZH-Logo

Maintenance Infos

Artificial ridged skin for slippage speed detection in prosthetic hand applications


Damian, D; Martinez, H; Dermitzakis, K; Hernandez Arieta, A; Pfeifer, R (2010). Artificial ridged skin for slippage speed detection in prosthetic hand applications. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2010, Taipei Taiwan, 18 October 2010 - 22 October 2010, 904-909.

Abstract

The human hand is one of the most complex structures in the body, being involved in dexterous manipulation and fine sensing. Traditional engineering approaches have mostly attempted to match such complexity in robotics without sufficiently stressing on the underlying mechanisms that its morphology encodes. In this work, we propose an artificial skin able to encode, through its morphology, the tactile sense of a robotic hand, characteristic to slippage events. The underlying layout consists of ridges and allows slippage detection and the quantification of slippage speed. Such encoding of slippage signal becomes suitable for relaying tactile feedback to users in prosthetic applications. This approach emphasizes the importance of exploiting morphology and mechanics in structures for the design of prosthetic interfaces.

The human hand is one of the most complex structures in the body, being involved in dexterous manipulation and fine sensing. Traditional engineering approaches have mostly attempted to match such complexity in robotics without sufficiently stressing on the underlying mechanisms that its morphology encodes. In this work, we propose an artificial skin able to encode, through its morphology, the tactile sense of a robotic hand, characteristic to slippage events. The underlying layout consists of ridges and allows slippage detection and the quantification of slippage speed. Such encoding of slippage signal becomes suitable for relaying tactile feedback to users in prosthetic applications. This approach emphasizes the importance of exploiting morphology and mechanics in structures for the design of prosthetic interfaces.

Citations

6 citations in Web of Science®
10 citations in Scopus®
Google Scholar™

Altmetrics

Downloads

69 downloads since deposited on 04 Feb 2011
15 downloads since 12 months
Detailed statistics

Additional indexing

Item Type:Conference or Workshop Item (Speech), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:22 October 2010
Deposited On:04 Feb 2011 13:44
Last Modified:10 Sep 2016 07:02
Publisher:Institute of Electrical and Electronics Engineers
Series Name:IEEE International Conference on Intelligent Robots and Systems. Proceedings
ISSN:2153-0858
ISBN:978-1-4244-6676-4
Additional Information:© 2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Publisher DOI:https://doi.org/10.1109/IROS.2010.5652094
Other Identification Number:1575
Permanent URL: https://doi.org/10.5167/uzh-42437

Download

[img]
Preview
Filetype: PDF
Size: 1MB
View at publisher

TrendTerms

TrendTerms displays relevant terms of the abstract of this publication and related documents on a map. The terms and their relations were extracted from ZORA using word statistics. Their timelines are taken from ZORA as well. The bubble size of a term is proportional to the number of documents where the term occurs. Red, orange, yellow and green colors are used for terms that occur in the current document; red indicates high interlinkedness of a term with other terms, orange, yellow and green decreasing interlinkedness. Blue is used for terms that have a relation with the terms in this document, but occur in other documents.
You can navigate and zoom the map. Mouse-hovering a term displays its timeline, clicking it yields the associated documents.

Author Collaborations