Title :
A mechanism for touch control of a sagittal five-link finger-hand
Author :
Buchner, H.J. ; Hines, M.J. ; Hemami, H.
Author_Institution :
Ohio State Univ., Columbus, OH, USA
Abstract :
A five-link planar model of a hand with one finger is developed. The actuators are analogous to muscle force generators. Three control problems, stability, maintaining a constrained motion, and control of the force of constraint, are considered in this model. Two feedback loops-one time-invariant and one time-varying-appear to be adequate for control purposes. Digital computer simulations are presented to confirm the control strategy and its effectiveness.
Keywords :
feedback; force control; prosthetics; stability; actuators; control strategy; digital simulation; feedback loops; five-link planar model; force control; hand; muscle force generators; prosthetics; stability; touch control mechanism; Equations; Force; Humans; Mathematical model; Muscles; Thumb;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMC.1985.6313395
