2005 · 57 citations · 5 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot DesignRoboticsDexterous ManipulationImpedance ControlManipulation ControlRobot ManipulationRobot ManipulatorsRobotic Hand DesignDexterous Hand DesignDexterous Robotic HandsHand Actuation MechanismsHand PrototypingRobot Hand DynamicsRobot Hand Kinematics
In this paper, the main design features of the University of Bologna robotic hand version II (UB Hand 11), currently at the set-up phase, are pre- sented. In particular, a detailed description is given of the adopted solutions with respect to hand-arm me- chanical integration, sensorial equipment, and control architecture and algorithms.
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