This paper presents force control of musculoskeletal manipulator driven by spiral motors. The kinematic and dynamic properties are shown to address the presence of ennvironmental contact with the manipulator. From this contact, the force control schemes were explored, by comparing between monoarticular-only structure and biarticular structure manipulator. Force control schemes were divided into...

This paper discusses the manipulation of multiple objects grasped by the enveloping grasp. In case of the enveloping grasp, since the contact force cannot be uniquely determined for a given joint torque, the resultant force also cannot be obtained uniquely. We derive a joint torque set enabling the resultant force set directing the desired direction. First, we extract the feature of the contact...

This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which...

This paper discusses a method for identification of contact conditions from the information of 6-axes force sensor equipped with a robot hand. The previous paper has the following problems. (1) The noise of sensing force was not considered. (2) Hence, the estimates obtained by the previous method are biased from true value, and the identification of contact types depends on an unknown contact p...

The accuracy of topography imaging in contact force mode of atomic force microscopy (AFM) depends on the one-to-one corresponding relationship between the cantilever deflection and the tip-sample distance, whereas such a relationship cannot be always achieved in the presence of friction and incline angle of sample surface. Recently, we have developed a novel operation mode in which we keep the ...

Adhesive or repulsive forces contributed by both meniscus and viscous forces can be significant and become one of the main reliability issues when the contacting surfaces are ultra smooth, and the normal load is small, as is common for micro/nano devices. In this study, both meniscus and viscous forces during separation for smooth and rough hydrophilic and hydrophobic surfaces are studied. The ...

This paper presents a new rule-based hybrid-system approach to contact monitoring. The rules are formulated in terms of temporal sequences of the contact force and they recognize temporal patterns of force associated with contact states and transitions. The rule-base is built using inductive learning techniques on force data obtained by human demonstration. This approach is suitable for monitor...

In this paper a unified contact force control approach for cable-driven parallel robots (CDPR) is proposed. The contact force controller is governed by two control loops: 1) An inner impedance control loop enforcing a dynamical relationship between the internal forces and the end-effector velocities to maintain a desired tension level in the cable system. 2) An outer admittance control loop con...