Fingertip force control based on max torque adjustment for dexterous manipulation of an anthropomorphic hand

@article{Nguyen2013FingertipFC,
  title={Fingertip force control based on max torque adjustment for dexterous manipulation of an anthropomorphic hand},
  author={Kien-Cuong Nguyen and V{\'e}ronique Perdereau},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={3557-3563}
}
Despite recent progress, the performance of force control algorithms still appears to be poor when applying to systems with significant backlash, low precision of position sensors, low communication bandwidth and computation power. Anthropomorphic robot hands with tendon driven joints are typical examples of such systems. To overcome this difficulty, this paper proposes an approach that uses the torque saturation (max-torque) of the joint position control loops to control the end-effector… CONTINUE READING

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