Accurate torque control of finger joints with UT hand exoskeleton through Bowden cable SEA.
Youngmok YunPriyanshu AgarwalJonas FoxKaci E. MaddenAshish D. DeshpandePublished in: IROS (2016)
Keyphrases
- human hand
- degrees of freedom
- joint space
- lower extremity
- robotic arm
- hand pose
- articulated hand
- hand motion
- induction motor
- position control
- control strategy
- high accuracy
- control method
- motion planning
- hand shape
- hand gestures
- control system
- computer vision
- real time
- end effector
- control algorithm
- computationally efficient
- skin color
- feedback loop
- hand postures
- optimal control
- highly accurate
- human motion
- face detection
- external forces
- high quality