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Grasping force control of a tendon-driven prosthetic finger based on force estimation using motor current signals
2016
Proceedings of the 2016 International Conference on Advanced Electronic Science and Technology (AEST 2016)
unpublished
A force estimation model using motor current signals was deduced in this paper for a tendon-driven prosthetic finger grasping objects with its distal phalanx. Models of the prosthetic finger were first established. As driving moment of each joint could be calculated form motor current, stable grasping force of the finger could be calculated by its statics mechanic model, that is, the grasping force is estimated using motor current signals. Then a PID controller based on the estimation method
doi:10.2991/aest-16.2016.22
fatcat:wp2os5ognfdyjov27yg2p5l44u