Torque control of underactuated tendon-driven fingers
نویسندگان
چکیده
منابع مشابه
Torque control of underactuated tendon-driven fingers
Given an underactuated tendon-driven finger, the finger posture is underdetermined and can move freely (“flop”) in a region of slack tendons. This work shows that such an underactuated finger can be operated in tendon force control (rather than position control) with effective performance. The force control eliminates the indeterminate slack while commanding a parameterized space of desired tor...
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ژورنال
عنوان ژورنال: Mechanical Sciences
سال: 2011
ISSN: 2191-916X
DOI: 10.5194/ms-2-83-2011