Abstract
This chapter describes design and control features of a five-fingered anthropomorphic end-effector designed primarily for grasping tasks. Advantages and limitations of the design are discussed, and special emphasis is placed on its suitability for autonomous, non-numerical or reflex control of grasp. Following a discussion of its mechanical design, we present the controller and sensor features incorporated into the current finger model. A knowledge-based control of hand preshape (prior to grasping) is then outlined, and the hand’s suitability as a testbed for the study of human and robot hand motion control is discussed. The final section of this chapter describes future directions.
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© 1990 Springer-Verlag New York Inc.
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Bekey, G.A., Tomovic, R., Zeljkovic, I. (1990). Control Architecture for the Belgrade/USC Hand. In: Venkataraman, S.T., Iberall, T. (eds) Dextrous Robot Hands. Springer, New York, NY. https://doi.org/10.1007/978-1-4613-8974-3_7
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DOI: https://doi.org/10.1007/978-1-4613-8974-3_7
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4613-8976-7
Online ISBN: 978-1-4613-8974-3
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