Force interface for the multifingered robotic hand

Most of the commercially available motion controllers are designed for position and velocity control, but they do not support force control directly. Since force control requires high bandwidth, it is practically impossible to implement a force controller using the host system which accommodates the motion controller. This paper describes a force interface which can use a standard position controller for force control thus taking advantage of the high sampling rate of the motion controller. The interface is designed for the control of a multifingered dextrous hand