On motion and force controllability of precision grasps with hands actuated by soft synergies

IEEE Transactions on Robotics

Volumn 29, Issue 6, 2013, Pages 1440-1456

  Prattichizzo, Domenico ^a,b   Malvezzi, Monica ^a   Gabiccini, Marco ^b,c   Bicchi, Antonio ^b,c  

^a UNIVERSITY OF SIENA   (Italy)

^b ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

^c UNIVERSITY OF PISA   (Italy)

Author keywords

Compliance; Controllability; Grasping; Robotic hands

Indexed keywords

ACTUATORS; END EFFECTORS; HARDWARE; ROBOT PROGRAMMING;

COMPLIANCE; DEGREES OF FREEDOM (DOFS); EFFECTIVE INPUTS; GRASPING; HAND CONFIGURATION; INTERNAL FORCES; PHYSICAL COUPLING; QUASI-STATIC MODEL;

CONTROLLABILITY;

EID: 84897613584     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2013.2273849     Document Type: Article

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