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cs.RO2026
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…
cs.RO2024
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…
cs.RO2024
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…