{"title":"抓握阻抗:手指目标阻抗的例子","authors":"S. Payandeh, Andrew A. Goldenberg","doi":"10.1109/ISIC.1988.65479","DOIUrl":null,"url":null,"abstract":"Two examples of formulating the targeted impedance of fingers of a mechanical hand are presented. A unified model of targeted impedance, based on the physical equivalence postulate of the closed-loop dynamics behavior of fingers, is used. Based on this postulate, the parameters of the targeted impedance can be selected such that the dynamic behavior of the closed-loop system satisfies specific task requirements. The first example is a formulation of the targeted impedance based on the object desired grasp stiffness properties at the point of interaction with the environment. The second example is a formulation of the targeted impedance for the case where the grasped object has some oscillatory motion, such that the oscillation of the object is minimized about some nominal equilibrium point. A method of obtaining the finger configuration based on the static relationship of the targeted impedance is also presented.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"17 10 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Grasp impedance: examples of finger's targeted impedance\",\"authors\":\"S. Payandeh, Andrew A. Goldenberg\",\"doi\":\"10.1109/ISIC.1988.65479\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Two examples of formulating the targeted impedance of fingers of a mechanical hand are presented. A unified model of targeted impedance, based on the physical equivalence postulate of the closed-loop dynamics behavior of fingers, is used. Based on this postulate, the parameters of the targeted impedance can be selected such that the dynamic behavior of the closed-loop system satisfies specific task requirements. The first example is a formulation of the targeted impedance based on the object desired grasp stiffness properties at the point of interaction with the environment. The second example is a formulation of the targeted impedance for the case where the grasped object has some oscillatory motion, such that the oscillation of the object is minimized about some nominal equilibrium point. A method of obtaining the finger configuration based on the static relationship of the targeted impedance is also presented.<<ETX>>\",\"PeriodicalId\":155616,\"journal\":{\"name\":\"Proceedings IEEE International Symposium on Intelligent Control 1988\",\"volume\":\"17 10 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1988-08-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings IEEE International Symposium on Intelligent Control 1988\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISIC.1988.65479\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings IEEE International Symposium on Intelligent Control 1988","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIC.1988.65479","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Grasp impedance: examples of finger's targeted impedance
Two examples of formulating the targeted impedance of fingers of a mechanical hand are presented. A unified model of targeted impedance, based on the physical equivalence postulate of the closed-loop dynamics behavior of fingers, is used. Based on this postulate, the parameters of the targeted impedance can be selected such that the dynamic behavior of the closed-loop system satisfies specific task requirements. The first example is a formulation of the targeted impedance based on the object desired grasp stiffness properties at the point of interaction with the environment. The second example is a formulation of the targeted impedance for the case where the grasped object has some oscillatory motion, such that the oscillation of the object is minimized about some nominal equilibrium point. A method of obtaining the finger configuration based on the static relationship of the targeted impedance is also presented.<>
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