Regrasping Control by Multi-fingered Robot Hand

Multi-fingered regrasping using on-line grasping force optimization

Adaptive Control of Multi-fingered Robot Hand Using Quaternion

This paper presents an adaptive control for a multi-fingered robot hand with rolling contact to a grasped rigid object. In the proposed controller, the dynamic parameters of both the object and multi-fingered robot hand are estimated adaptively. The orientation error of the object is described around the relative rotational axis using quaternion. The asymptotic convergence of object motion and ...

Modeling of Human Skin Muscle and Massage Control by Using Multi-fingered Robot Hand

The purpose of this paper is to propose adaptive and flexible expert masssage robot using multi-fingered robot. Towards this goal, the present paper gives a modeling of human skin muscle through robot perception of impedance, and control strategy using impedance control to implement adaptive control system, even if human condition is changed, or massage position is shifted, and person to be mas...

Massage control to adapt human skin muscle condition by using multifingered robot hand

The purpose of this paper is to propose the adaptive expert masssage robot using a multi-fingered robot. Towards this goal, the present paper gives a modeling of human skin muscle through robot perception of impedance, and control strategy using impedance control to implement adaptive control system, even if human condition is changed. The model validity is demonstrated via many experiments by ...

Sense Feedback Control of Human Muscle by Multi-fingered Robot Hand

This paper presents a massage motion control system comprised of position control and force control in a multi-fingered robot hand. First, the fingertip forces exerted by an expert human therapist was measured using sheet distribution pressure sensors, and the datas obtained was recorded in a computer. After the measurements were taken, the human expert’s fingertip force was reproduced by the r...