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2016 | OriginalPaper | Chapter

8. Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand

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Abstract

To further exploit the efficiency and robustness of a synergy-driven robotic hand, we present a novel myoelectric impedance controller. This chapter extends the impedance control scheme and hand synergy reference models, previously presented in Chap. 7, and presents a novel teleimpedance controller for the Pisa/IIT SoftHand. In addition, different haptic interfaces are developed to provide the user with some information about the grasping forces and texture.

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Footnotes
1
In this chapter, if not stated explicitly, all the variables and equations are described on the motor side (including interaction torque). Therefore, a gearbox ratio of \(N=84\) must be taken into account for the presentation of the variables after the gearbox.
 
2
Here we assume that the cuff’s tendon stiffness is very high and the damping effect is negligible due to the slow variations of the observed interaction torques.
 
3
To allow adequate spacing of the motors in the vibrotactile cuff, only digits 1–4, thumb to ring finger, were used to provide texture feedback.
 
4
Usually the intercept of the fit model is indicated by \(\beta _0\).
 
5
The R Project for Statistical Computing—see www.​r-project.​org.
 
Metadata
Title
Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand
Author
Arash Ajoudani
Copyright Year
2016
DOI
https://doi.org/10.1007/978-3-319-24205-7_8