Brian K. Hargrave

Learn More
— Existing tendon-driven fingers have applied force control through independent tension controllers on each tendon, i.e. in the tendon-space. The coupled kinematics of the tendons, however, cause such controllers to exhibit a transient coupling in their response. This problem can be resolved by alternatively framing the controllers in the joint-space of the(More)
Speculation as to optical malfunction has led to dissatisfaction with the theory that the lens is the sole agent in accommodation and to the suggestion that other parts of the eye are also conjointly involved. Around half-a-century ago, Robert Brooks Simpkins suggested that the mechanical features of the human eye were precisely such as to allow for a(More)
— Conventionally, tendon-driven manipulators implement some force-based controller using either tension feedback or dynamic models of the actuator. The force control allows the system to maintain proper tensions on the tendons. In some cases, whether it is due to the lack of tension feedback or actuator torque control, a purely position-based controller is(More)
  • 1