scholarly journals Grasping Force Control of Robot Hand Using Stepping Motors, Gears and Plate Springs (Feedforward Grasping Force Control in Case that Shape of Grasped Body is Known)

2007 ◽  
Vol 73 (729) ◽  
pp. 1416-1424 ◽  
Author(s):  
Ping HAN ◽  
Hiroyuki KOJIMA
Keyword(s):  
Force Control ◽  
Robot Hand ◽  
Grasping Force

scholarly journals Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor

2007 ◽  
Vol 25 (6) ◽  
pp. 970-978 ◽  
Author(s):  
Daisuke Gunji ◽  
Takuma Araki ◽  
Akio Namiki ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

scholarly journals 1A2-B07 Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection

2007 ◽  
Vol 2007 (0) ◽  
pp. _1A2-B07_1-_1A2-B07_4
Author(s):  
Daisuke Gunji ◽  
Yoshitomo Mizoguchi ◽  
Aigou Ming ◽  
Akio Namiki ◽  
Masatoshi Ishikawa ◽  
...  
Keyword(s):  
Force Control ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

Grasping force control of multi-fingered robot hand based on slip detection using tactile sensor

2008 ◽  
Author(s):  
Daisuke Gunji ◽  
Yoshitomo Mizoguchi ◽  
Seiichi Teshigawara ◽  
Aiguo Ming ◽  
Akio Namiki ◽  
...  
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

Grasping force control of multi-fingered robot hand based on slip detection sing tactile sensor

2008 ◽  
Author(s):  
Daisuke Gunji ◽  
Yoshitomo Mizoguch ◽  
Seiichi Teshigawara ◽  
Aiguo Ming ◽  
Akio Namiki ◽  
...  
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

A Control Method for Robot Fingers with Three-Axis Force Sensor

2014 ◽  
Vol 614 ◽  
pp. 175-178
Author(s):  
Ming Hua Luo ◽  
Chun Wei Pan ◽  
Xiu Wen Yang ◽  
Xin Hua Luo
Keyword(s):  
Control System ◽  
Force Control ◽  
Force Feedback ◽  
Control Method ◽  
Dynamic Balance ◽  
Force Sensor ◽  
Robot Hand ◽  
Closed Loops ◽  
Force Control System ◽  
Grasping Force

This paper proposed a new grasping method for robot fingers with three-axis force sensors. When a robot hand with two fingers is grasping an object, such as an egg, two closed loops with negative feedback in force-control system are start. When grasping force of the two fingers are equal reference force, dynamic balance is reached. Once tiny sliding between egg and finger occurred, force feedback start immediately, dynamic balance is reached again. In this way, our robot hand can firmly grasps eggs, even if vibration added on the robot hand.

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