Through the judgment of slip or not, human make proper adjustment to the grasping force and achieve stable manipulations. To reconstruct this function on a prosthetic hands platform, this paper presents a hybrid slip detect algorithm utilizing the PVDF sensor and FSR sensor. Then a reflex force estimation model is built to quantify the reflex force according to the intensity of slip in the reflex control process. Finally, through comparative experiments, the anti-jamming performance of the hybrid slip detect scheme is tested. A fuzzy controller is used to control the applied force and test the whole reflex control system. The results show that the hybrid slip detect scheme can make accurate judgment and has strong anti-jamming capacity; The output of the reflex force estimation model is accordance with the factual case; And as a whole, the grasping ability of prosthetic hand is substantially enhanced.
Grasping force estimation for prosthetic hands via feature extraction of surface EMG