Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Grasp Control of a Cable-Driven Robotic Hand Using a PVDF Slip Detection
  Sensor   Detecting and preventing slip is a major challenge in robotic hand operation,
underpinning the robot's ability to perform safe and reliable grasps. Using the
robotic hand design from the authors' earlier work, a sensing and control
strategy is proposed here to prevent object slippage. The robotic hand is
cable-driven, single-actuated, has five fingers, and is capable of replicating
most human hand motions. The slip sensing approach utilizes a piezoelectric
vibration sensor, namely, polyvinylidene fluoride (PVDF), which is a flexible,
thin, cheap, and highly sensitive material. The power of the filtered PVDF
signal is shown to exhibit identifiable signatures during slip, thus providing
a suitable slip detection mechanism. Using the PVDF feedback, an integral
controller is implemented to prevent the grasped object from falling and ensure
a safe, powerful, and reliable grasp. The extension movement of the robotic
hand is controlled using a bend sensor, through a proportional-integral (PI)
controller. The robotic hand weights 338 gr. The functionality and robustness
of the proposed slip-detection sensory system and control logic implementation
are evaluated through experiments.

2
The categories of this paper are: math
21
The categories of this paper are: adap-org
13
The categories of this paper are: quant-ph
36
The categories of this paper are: cmp-lg
22
The categories of this paper are: chao-dyn
28
The categories of this paper are: alg-geom
9
The categories of this paper are: nlin
16
The categories of this paper are: stat
20
The categories of this paper are: acc-phys
17
The categories of this paper are: q-fin
8
The categories of this paper are: hep-ex
5
The categories of this paper are: gr-qc
10
The categories of this paper are: q-bio
32
The categories of this paper are: atom-ph
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The categories of this paper are: ao-sci
33
The categories of this paper are: plasm-ph