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A mechanism for touch control of a sagittal five-link finger-hand

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3 Author(s)
Buchner, H.J. ; Ohio State Univ., Columbus, OH, USA ; Hines, M.J. ; Hemami, H.

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.

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:SMC-15 ,  Issue: 1 )