GRASPING WITH HYDRAULIC FINGERS - AN EXAMPLE OF MECHATRONICS

Authors
PFEIFFER F
Citation
F. Pfeiffer, GRASPING WITH HYDRAULIC FINGERS - AN EXAMPLE OF MECHATRONICS, IEEE-ASME TRANSACTIONS ON MECHATRONICS, 1(2), 1996, pp. 158-167
Citations number
26
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Manufacturing","Engineering, Mechanical","Engineering, Eletrical & Electronic
Journal title
IEEE-ASME TRANSACTIONS ON MECHATRONICS → ACNP
ISSN journal
10834435
Volume
1
Issue
2
Year of publication
1996
Pages
158 - 167
Database
ISI
SICI code
1083-4435(1996)1:2<158:GWHF-A>2.0.ZU;2-O
Abstract
Grasping, regrasping, and manipulation with an artificial hand being c omposed of several fingers require control strategies to assure reason able cooperation of the fingers with respect to an object. This paper presents such concepts. They are verified by a hand with four hydrauli c fingers, which together with control and power electronics, represen t a typical mechatronic system.