Fingertip force control based on max torque adjustment for dexterous manipulation of an anthropomorphic hand.
Kien-Cuong NguyenVéronique PerdereauPublished in: IROS (2013)
Keyphrases
- force control
- position control
- control strategy
- contact force
- manipulation tasks
- robot manipulators
- hand gestures
- impedance control
- finite element analysis
- control scheme
- robot arm
- human hand
- closed loop
- robotic cell
- control law
- haptic feedback
- gesture recognition
- control algorithm
- control strategies
- control system
- dynamic model
- end effector
- force feedback
- humanoid robot
- robot navigation
- human robot interaction
- input device
- master slave
- robotic manipulator
- optimal control
- real time
- motion planning
- finite element
- degrees of freedom
- experimental data
- mathematical model