Grasping Force Control and Adaptation for a Cable-Driven Robotic Hand
Grasping Force Control and Adaptation for a Cable-Driven Robotic Hand
This paper introduces a unique force control and adaptation algorithm for a lightweight and low-complexity five-fingered robotic hand, namely an Integrated-Finger Robotic Hand (IFRH). The force control and adaptation algorithm is intuitive to design, easy to implement, and improves the grasping functionality through feedforward adaptation automatically. Specifically, we have extended …