Outputs (3)

A bio-inspired grasp stiffness control for robotic hands (2018)
Journal Article

This work presents a bio-inspired grasp stiffness control for robotic hands based on the concepts of Common Mode Stiffness (CMS) and Configuration Dependent Stiffness (CDS). Using an ellipsoid representation of the desired grasp stiffness, the algori... Read More about A bio-inspired grasp stiffness control for robotic hands.

Grasp stiffness control in robotic hands through coordinated optimization of pose and joint stiffness (2018)
Journal Article

This letter presents a novel controller for robotic hands, which regulates the grasp stiffness by manipulating the pose and the finger joint stiffness of hands with multiple degrees of freedom while guaranteeing grasp stability. The proposed approach... Read More about Grasp stiffness control in robotic hands through coordinated optimization of pose and joint stiffness.

On the common-mode and configuration-dependent stiffness control of multiple degrees of freedom hands (2018)
Presentation / Conference Contribution

© 2017 IEEE. Object manipulation using hands is a compelling topic in which the interaction forces play a key role. These influence the stability of the grasp and the dexterity of the hand manipulation. A well-known technique to modulate these forces... Read More about On the common-mode and configuration-dependent stiffness control of multiple degrees of freedom hands.