Abstract
The human hand is an intricate anatomical structure essential for daily activities, yet replicating its full functionality in upper-limb prostheses remains a significant challenge. Despite advances in mechanical design leading to more sophisticated and dexterous artificial hands, difficulties persist in effectively controlling these prostheses due to the limitations posed by the muscle conditions of their users. These constraints result in a limited number of control inputs and a lack of sensory feedback. To address these issues, various semi-autonomous control strategies have been proposed, which integrate sensing technologies to complement traditional myoelectric control. Inspired by human grasping physiology, we propose a shared control strategy that divides grasp control into two levels: a high-level controller, operated by the user to initiate the grasp action, and a low-level controller, which ensures stability throughout the task. This work focuses specifically on slip detection methods, introducing improvements to the low-level controller to enable more autonomous grasping behavior during object holding. The proposed slip module uses distributed 3D force sensors across the artificial hand and integrates a friction cone strategy to ensure an appropriate shear-to-normal force ratio with bandpass filtering for establishing an initial stable grasp model without prior knowledge. Experimental evaluations consist of the comparison of this novel controller with conventional state-of-the-art approaches. Results demonstrate its efficacy in preventing slippage while requiring less grasping force than previous methods. Additionally, a qualitative validation was conducted to assess its responsiveness compared to human grasping reactions to unexpected weight changes, yielding positive outcomes.