FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2155128543> ?p ?o ?g. }

• W2155128543 endingPage "269" @default.
• W2155128543 startingPage "256" @default.
• W2155128543 abstract "Humans exploit the inherent biomechanical compliance in their fingers to achieve stability and dexterity during many manipulation tasks. The compliance is a result of muscles and tendons (series compliance) and flexible joints (parallel compliance). While the effects of series compliance have been studied in many robotic systems, research on the effects of joint compliance arranged in parallel with the actuators is limited. In this paper, we first demonstrate, through mathematical modeling, that introducing parallel compliance improves stability and robustness in the presence of time delay in a generic robotic joint. We also provide guidelines to balance the benefits of added stability with the increased actuator load when implementing parallel compliance in robotic joints. The result is experimentally validated on a one-degree-of-freedom tendon-driven joint. We build upon this result to design two 2-DOF tendon-driven fingers with parallel compliance, and develop an impedance control law for object manipulation with the fingers. The experimental results demonstrate, for the first time, the advantages of introducing parallel compliance in robotic hands during dexterous manipulation tasks, specifically in achieving smoother trajectory tracking, improved stability, and robustness to impacts." @default.
• W2155128543 created "2016-06-24" @default.
• W2155128543 creator A5016000785 @default.
• W2155128543 creator A5041011551 @default.
• W2155128543 creator A5080143992 @default.
• W2155128543 date "2015-02-05" @default.
• W2155128543 modified "2023-09-27" @default.
• W2155128543 title "Compliance in parallel to actuators for improving stability of robotic hands during grasping and manipulation" @default.
• W2155128543 cites W1967377907 @default.
• W2155128543 cites W1999734508 @default.
• W2155128543 cites W2042018949 @default.
• W2155128543 cites W2060315118 @default.
• W2155128543 cites W2098194275 @default.
• W2155128543 cites W2118935525 @default.
• W2155128543 cites W2123062563 @default.
• W2155128543 cites W2125677834 @default.
• W2155128543 cites W2131063775 @default.
• W2155128543 cites W2134075441 @default.
• W2155128543 cites W2139086916 @default.
• W2155128543 cites W2155337985 @default.
• W2155128543 cites W2160686985 @default.
• W2155128543 cites W4232027764 @default.
• W2155128543 cites W4233227660 @default.
• W2155128543 doi "https://doi.org/10.1177/0278364914558016" @default.
• W2155128543 hasPublicationYear "2015" @default.
• W2155128543 type Work @default.
• W2155128543 sameAs 2155128543 @default.
• W2155128543 citedByCount "23" @default.
• W2155128543 countsByYear W21551285432015 @default.
• W2155128543 countsByYear W21551285432016 @default.
• W2155128543 countsByYear W21551285432017 @default.
• W2155128543 countsByYear W21551285432018 @default.
• W2155128543 countsByYear W21551285432019 @default.
• W2155128543 countsByYear W21551285432020 @default.
• W2155128543 countsByYear W21551285432021 @default.
• W2155128543 countsByYear W21551285432022 @default.
• W2155128543 countsByYear W21551285432023 @default.
• W2155128543 crossrefType "journal-article" @default.
• W2155128543 hasAuthorship W2155128543A5016000785 @default.
• W2155128543 hasAuthorship W2155128543A5041011551 @default.
• W2155128543 hasAuthorship W2155128543A5080143992 @default.
• W2155128543 hasConcept C104317684 @default.
• W2155128543 hasConcept C112972136 @default.
• W2155128543 hasConcept C119857082 @default.
• W2155128543 hasConcept C127413603 @default.
• W2155128543 hasConcept C133731056 @default.
• W2155128543 hasConcept C154945302 @default.
• W2155128543 hasConcept C15744967 @default.
• W2155128543 hasConcept C172707124 @default.
• W2155128543 hasConcept C185592680 @default.
• W2155128543 hasConcept C2775924081 @default.
• W2155128543 hasConcept C2777984285 @default.
• W2155128543 hasConcept C2781460075 @default.
• W2155128543 hasConcept C34413123 @default.
• W2155128543 hasConcept C41008148 @default.
• W2155128543 hasConcept C44154836 @default.
• W2155128543 hasConcept C47446073 @default.
• W2155128543 hasConcept C55493867 @default.
• W2155128543 hasConcept C63479239 @default.
• W2155128543 hasConcept C77805123 @default.
• W2155128543 hasConcept C90509273 @default.
• W2155128543 hasConceptScore W2155128543C104317684 @default.
• W2155128543 hasConceptScore W2155128543C112972136 @default.
• W2155128543 hasConceptScore W2155128543C119857082 @default.
• W2155128543 hasConceptScore W2155128543C127413603 @default.
• W2155128543 hasConceptScore W2155128543C133731056 @default.
• W2155128543 hasConceptScore W2155128543C154945302 @default.
• W2155128543 hasConceptScore W2155128543C15744967 @default.
• W2155128543 hasConceptScore W2155128543C172707124 @default.
• W2155128543 hasConceptScore W2155128543C185592680 @default.
• W2155128543 hasConceptScore W2155128543C2775924081 @default.
• W2155128543 hasConceptScore W2155128543C2777984285 @default.
• W2155128543 hasConceptScore W2155128543C2781460075 @default.
• W2155128543 hasConceptScore W2155128543C34413123 @default.
• W2155128543 hasConceptScore W2155128543C41008148 @default.
• W2155128543 hasConceptScore W2155128543C44154836 @default.
• W2155128543 hasConceptScore W2155128543C47446073 @default.
• W2155128543 hasConceptScore W2155128543C55493867 @default.
• W2155128543 hasConceptScore W2155128543C63479239 @default.
• W2155128543 hasConceptScore W2155128543C77805123 @default.
• W2155128543 hasConceptScore W2155128543C90509273 @default.
• W2155128543 hasIssue "3" @default.
• W2155128543 hasLocation W21551285431 @default.
• W2155128543 hasOpenAccess W2155128543 @default.
• W2155128543 hasPrimaryLocation W21551285431 @default.
• W2155128543 hasRelatedWork W1502263556 @default.
• W2155128543 hasRelatedWork W1913436011 @default.
• W2155128543 hasRelatedWork W2047129966 @default.
• W2155128543 hasRelatedWork W2052188064 @default.
• W2155128543 hasRelatedWork W2115743045 @default.
• W2155128543 hasRelatedWork W2131888742 @default.
• W2155128543 hasRelatedWork W2327366266 @default.
• W2155128543 hasRelatedWork W2376604873 @default.
• W2155128543 hasRelatedWork W2612501290 @default.
• W2155128543 hasRelatedWork W4379256294 @default.
• W2155128543 hasVolume "34" @default.
• W2155128543 isParatext "false" @default.
• W2155128543 isRetracted "false" @default.

• next