The Control of Tendon-Driven Dexterous Hands with Joint Simulation

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...

URC97098 Force Model for Control of Tendon Driven Hands

Knowing the tendon forces generated for a given task such as grasping via a model, an artificial hand can be controlled. A two-dimensional force model for the index finger waa developed. This system is assumed to be in static equilibrium, therefore, the equations of equilibrium were applied at each joint. Constraint equations describing the tendon branch connectivity were used. Gaussian elimina...

Radio Frequency Identification for the Control of Dexterous Prosthetic Hands

Development of a Tendon-Driven Dexterous Hand for Fine Manipulation

This paper presents a tendon-driven dexterous hand capable of object manipulation. This dexterous hand is anatomically sound and mimics the musculoskeletal structure of human fingers including the passive mechanism, bone geometry, tendon network. One of the key features of this prosthetic hand is the ability to perform fine finger manipulation motions such as holding a pen with two fingers and ...

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...