The DOI matches its Crossref record; 8 of the 8 references it cites were found in a registry or an index.
Articulated Hands: Force Control and Kinematic Issues
Abstract
Kinematic and control issues are discussed in the context of an articulated, multifinger mechanical hand. Hand designs with particular mobility properties are illustrated, and a definition of accuracy points within manipulator workspace is given. Optimization of tlte physical dimensions of the Stanford-JPL hand is described. Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems. Preliminary results are shown for the joint torque subsystem used in the hand controller.
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Citations
Cites
Powell, M. J. D. (1964) · The Computer Journal · doi:10.1093/comjnl/7.2.155 · Cited by 4,632
Hybrid Position/Force Control of Manipulators
Raibert, M. H., & Craig, J. J. (1981) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3139652 · Cited by 3,015
Self-citationKinematic geometry of mechanisms
Hunt, K. H. (1978) · Medical Entomology and Zoology · Cited by 1,911
Linear Algebra and Its Applications
I., E., & Strang, G. (1976) · Mathematics of Computation · doi:10.2307/2005411 · Cited by 1,871
Force Feedback Control of Manipulator Fine Motions
Whitney, D. E. (1977) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3427095 · Cited by 720
Der mechanische Aufbau der künstlichen Glieder
Schlesinger, G. (1919) · Springer eBooks · doi:10.1007/978-3-662-33009-8_13 · Cited by 134
Using compliance in lieu of sensory feedback for automatic assembly.
Drake, S. (1978) · DSpace@MIT (Massachusetts Institute of Technology) · Cited by 123
Manipulator compliance based on joint torque control
Wu, C.-H., & Paul, R. P. (1980) · IEEE Conference on Decision and Control including the Symposium on Adaptive Processes (CDC) · doi:10.1109/cdc.1980.272025 · Cited by 117
Cited by
A compliant, underactuated hand for robust manipulation
Odhner, L. U., Jentoft, L. P., Claffee, M. R., Corson, N., Tenzer, Y., Ma, R. R., Buehler, M., Kohout, R., Howe, R. D., & Dollar, A. M. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913514466 · Cited by 598
The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping
Carrozza, M. C., Suppo, C., Sebastiani, F., Massa, B., Vecchi, F., Lazzarini, R., Cutkosky, M. R., & Dario, P. (2004) · Autonomous Robots · doi:10.1023/b:auro.0000016863.48502.98 · Cited by 255
Metadata
- Authors
- Salisbury, J. K., & Craig, J. J.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1982-03
- Volume
- 1
- Issue
- 1
- Pages
- 4-17
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2085545845
- Cited by
- 1,544
- References
- 8
- FWCI
- 28.78
- Type
- journal article
- Language
- en
- Open access
- closed
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- Salisbury, J. K., & Craig, J. J. (1982). Articulated Hands: Force Control and Kinematic Issues. The International Journal of Robotics Research. https://doi.org/10.1177/027836498200100102
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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