A mechanism for touch control of a sagittal five-link finger-hand
- 1 January 1985
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics
- Vol. SMC-15 (1) , 69-77
- https://doi.org/10.1109/tsmc.1985.6313395
Abstract
A five-link planar model of a hand with one finger is developed. The actuators are analogous to muscle force generators. Three control problems, stability, maintaining a constrained motion, and control of the force of constraint, are considered in this model. Two feedback loops-one time-invariant and one time-varying-appear to be adequate for control purposes. Digital computer simulations are presented to confirm the control strategy and its effectiveness.Keywords
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