Vibrations from the first 15 ms after contact encode object stiffness, enabling a prosthetic hand to classify stiffness with up to 98.6% accuracy and regress it with 2.39 Shore A MSE before full grasp closure.
Grasped object stiffness detection for adaptive pid sliding mode position control of a prosthetic hand,
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At First Contact: Stiffness Estimation Using Vibrational Information for Prosthetic Grasp Modulation
Vibrations from the first 15 ms after contact encode object stiffness, enabling a prosthetic hand to classify stiffness with up to 98.6% accuracy and regress it with 2.39 Shore A MSE before full grasp closure.