| contributor author | H. R. Choi | |
| contributor author | W. K. Chung | |
| contributor author | Y. Youm | |
| date accessioned | 2017-05-08T23:46:47Z | |
| date available | 2017-05-08T23:46:47Z | |
| date copyright | September, 1995 | |
| date issued | 1995 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26216#435_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/115065 | |
| description abstract | In this paper, we describe the stiffness of a grasp as a function of grasp configuration, grasp forces and joint stiffness of the fingers. The effects caused by the change of joint configuration is included in the computation of the joint stiffness in terms of Stiffness Induced from Configuration Change and Force (SICC). Based on the analysis, the Decentralized Object Stiffness Control (DOSC) method is proposed so as to achieve the desired overall grasp stiffness. The effects of SICC at the joint stiffness and the performance of the proposed stiffness control. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Stiffness Analysis and Control of Multi-Fingered Robot Hands | |
| type | Journal Paper | |
| journal volume | 117 | |
| journal issue | 3 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2799138 | |
| journal fristpage | 435 | |
| journal lastpage | 439 | |
| identifier eissn | 1528-9028 | |
| keywords | Robots | |
| keywords | Stiffness | |
| keywords | Force AND Computation | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1995:;volume( 117 ):;issue: 003 | |
| contenttype | Fulltext | |