Fingertip Position and Force Control for Dexterous Manipulation through Model-Based Control of Hand-Exoskeleton-Environment.
Paria EsmatlooAshish D. DeshpandePublished in: AIM (2020)
Keyphrases
- force control
- position control
- robot manipulators
- control strategy
- impedance control
- closed loop
- manipulation tasks
- robotic manipulator
- robotic cell
- control system
- control architecture
- control scheme
- control strategies
- real time
- robotic systems
- end effector
- hand gestures
- inverse kinematics
- control law
- autonomous robots
- control method
- mobile robot
- feedback loop
- dynamic environments
- control algorithm
- degrees of freedom
- lower extremity
- robot arm
- human hand
- dc motor
- mathematical model
- control structure
- model free