Slippage Detection for Grasping Force Control of Robotic Hand Using Force Sensing Resistors

• Main Authors: Farag, Mohannad, Alsibai, Mohammed Hayyan, Norsinnira, Zainul Azlan, Abdul Nasir, Abd Ghafar
• Format: Conference or Workshop Item
• Language: English
• Published: Association for Computing Machinery 2019
• Subjects: TA Engineering (General). Civil engineering (General)
• Online Access: http://umpir.ump.edu.my/id/eprint/25002/1/Slippage%20Detection%20for%20Grasping%20Force%20Control1.pdf; http://umpir.ump.edu.my/id/eprint/25002/; https://doi.org/10.1145/3323933.3324077
• Institution: Universiti Malaysia Pahang

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 leading...