Design of a grasp force adaptive control system with tactile and slip perception

Zhao-Xiang Huang, Xiao-Dong Zhang, Yao-Nan Li
2012 2012 IEEE International Conference on Automation Science and Engineering (CASE)  
This paper realizes the tactile and slip perception of prostheses finger by using of PVDF (Polyvinylidene Fluoride) piezoelectric membrane. The mathematics model of brushless DC motor is constructed and the characteristics of PVDF tactile and slipping sensor are analyzed. The PID controller is adaptive by designing the control system with tactile and slip feedback. The feedback system implements adaptive control. The simulink dynamic model of the control system is modeled. The simulation
more » ... e simulation results show the control system can satisfy the requirements and has good response characteristics.
doi:10.1109/coase.2012.6386342 dblp:conf/case/HuangZL12 fatcat:c22jwszkj5dyrkolszasgv5qwm