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A proper grasping force is very difficult to obtain for a prosthetic hand due to a lack of detailed sensory feedback information. When the applied grasping force is too small, a heavy object may slip, whereas an overly large applied force may deform soft objects. This paper presents a bionic reflex control system designed to reconstruct the humanoid reflex control function for a prosthetic hand. First,...
A novel hexapod robot with 3-DOF parallel leg mechanisms is presented in this paper. The payload capability of the robot has a high promotion due to the utilizing of parallel mechanisms. Meanwhile, a novel force distribution approach of joint space distribution for redundant actuation system is proposed to optimize joint forces in order to promote the payload capability of the robot. Usually, the...
If grasping force of prosthetic hand is higher than the desired, the grasping object may produce undesired deformation or crash. In order to reduce the phenomenon, a simple control method is proposed to prevent overshoot of grasping force. Based on impedance control, a dynamic interaction force between a tendon-driven prosthetic hand and environment is modeled. A PID controller can be simple designed...
The paper presents the concept of the Response Dead Zone of counteracting force, analyzes the changing law of kinematic pairs' counteracting forces during the operation of large scale heavy duty grippers. The dynamic equations of the gripping mechanism which takes the friction of kinematic pairs into consideration are established. On top of that, we further investigate the reasons that result in the...
A contact model has been presented which assume that the contact forces between the work-piece and the tongs are simplified as the four resultant forces with friction point contact. And the contact forces are calculated based on this contact model. To simplify the contact status, a contact model with spring-damper system is presented by considering the deformation of the work-piece in this paper....
In this paper, a systematic procedure is presented to analyze and design a stable fuzzy controller for a class of nonlinear systems. Based on the Popov-Lyapunovpsilas method, the flight model is described with the expertpsilas linguistic information involved. The linguistic information for the flight model is represented as fuzzy sets. First, we transform a fuzzy control system into a flight control...
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