Issues in human/computer control of dexterous remote hands

The Control of Tendon-Driven Dexterous Hands with Joint Simulation

An adaptive impedance control algorithm for tendon-driven dexterous hands is presented. The main idea of this algorithm is to compensate the output of the classical impedance control by an offset that is a proportion-integration-differentiation (PID) expression of force error. The adaptive impedance control can adjust the impedance parameters indirectly when the environment position and stiffne...

Radio Frequency Identification for the Control of Dexterous Prosthetic Hands

Simple Controllers for Dexterous Hands

Unlike pick-and-place manipulations, ne motions strategies generate movements based on sensor information to overcome mechanical and sensory uncertainties. Performing assembly operations with a dexterous hand make high demands on the controller of the robot gripper. Pre-grasping operations are highly dependent on a good position/velocity control. The control strategies for position and velocity...

Tactile sensing in dexterous robot hands - Review

Tactile sensing is an essential element of autonomous dexterous robot hand manipulation. It provides information about forces of interaction and surface properties at points of contact between the robot fingers and the objects. Recent advancements in robot tactile sensing led to development of many computational techniques that exploit this important sensory channel. This paper reviews current ...

Complex Carton Packaging with Dexterous Robot Hands

Product packaging is one of the key industrial sectors where automation is of paramount interest. Any product going out to the consumer requires some form of packaging, be it food products, gift packaging or the medical supplies. Hence there is continuous demand of high-speed product packaging. This requirement is dramatically increased with seasonal consumer products and fancy gifts, which inv...