4 papers
From Continuous Design to Delay-Aware Discrete Synthesis: Guaranteed High-Bandwidth Joint Control for PMSM Drives
Edmundo Pozo Fortunić, Mehmet C. Yildirim, Sami Haddadin
The increasing dynamic demands of modern robotic joints require current controllers to achieve high bandwidth over wide operating ranges of speed, acceleration, and torque, where c…
Identification and validation of the dynamic model of a tendon-driven anthropomorphic finger
Junnan Li, Lingyun Chen, Johannes Ringwald +3
This study addresses the absence of an identification framework to quantify a comprehensive dynamic model of human and anthropomorphic tendon-driven fingers, which is necessary to…
OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism
Sonja Groß, Michael Ratzel, Edgar Welte +6
Recent research has seen notable progress in the development of linkage-based artificial hands. While previous designs have focused on adaptive grasping, dexterity and biomimetic a…
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept
Edmundo Pozo Fortunić, Mehmet C. Yildirim, Dennis Ossadnik +3
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA)…