Impedance Control of an Anthropomorphic Hands Without Finger Force Sensors

With multiple fingers and multi-DOFs, an anthropomorphic hand can compliantly grasp objects with complex shape and low stiffness. In order to realize compliant grasp, contact force control between the anthropomorphic hand and the object is necessary. However, due to limited finger space for sensors...

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Veröffentlicht in:	IEEE transactions on automation science and engineering 2024-10, Vol.21 (4), p.5779-5789
Hauptverfasser:	Jiang, Lingxiao, Tian, Xinyang, Zhan, Qiang, Xu, Qinhuan, Zhang, Yin
Format:	Artikel
Sprache:	eng
Schlagworte:	Anthropomorphic hand Anthropomorphism Force Force sensors Friction friction compensation Grasping Impedance impedance control Impedance measurement observer Observers sensor-less grasp Thumb
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