Title :
A direct-drive hand: design, modeling and control
Author :
Ebner, Marc ; Wallace, Richard S.
Author_Institution :
Courant Inst. of Math. Sci., New York Univ., NY, USA
Abstract :
An artificial 15 degrees of mobility direct drive hand, slightly bigger than a human hand, is presented. Advantages and limitations of a direct drive hand are given. The authors introduce the design of their hand and present a model for control of the hand. Finally the authors describe their experiments with the hand. The direct drive hand dynamics have been simulated and the control algorithm has been tested on the model
Keywords :
manipulator dynamics; artificial 15 degrees of mobility direct drive hand; control algorithm; hand dynamics; Actuators; Art; Circuits; Coils; Costs; Humans; Keyboards; Power supplies; Robotics and automation; Scholarships;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525514
