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....
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2011-02-01
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| Series: | Mechanical Sciences |
| Online Access: | http://www.mech-sci.net/2/83/2011/ms-2-83-2011.pdf |