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- W4310969699 abstract "In order to adapt robot hand to daily movements, it is necessary to control the finger pad force. There is an affinity between the elastic joint, which is the mechanism that can press the finger pad, and the two-mass resonance system (TMRS) that can estimate the force at the tip. However there are some elements in the elastic joint that cannot be modeled by TMRS. The elements are include an error caused by the use of a nonlinear spring called rubber in this mechanism, and an error caused by friction generated in this mechanism, which was not generated in the conventional TMRS. Therefore, in this paper, we propose to model those elements by element description method. In order to verify the effectiveness of this method, we verified the accuracy of the value estimated by TMRS in some postures." @default.
- W4310969699 created "2022-12-21" @default.
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- W4310969699 date "2022-10-17" @default.
- W4310969699 modified "2023-10-18" @default.
- W4310969699 title "Multi-layer Observers Design for Force Control with Robot Finger Pad by Using Element Description Method" @default.
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- W4310969699 doi "https://doi.org/10.1109/iecon49645.2022.9968542" @default.
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