IEEE - Institute of Electrical and Electronics Engineers, Inc. - Grasp Stiffness Control in Robotic Hands Through Coordinated Optimization of Pose and Joint Stiffness

Author(s): Virginia Ruiz Garate ; Maria Pozzi ; Domenico Prattichizzo ; Nikos Tsagarakis ; Arash Ajoudani
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2018
Volume: 3
Page(s): 3,952 - 3,959
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2018.2858271
Regular:

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... View More

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