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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- 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.
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© 2016 Springer International Publishing Switzerland
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Ajoudani, A. (2016). Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand. In: Transferring Human Impedance Regulation Skills to Robots. Springer Tracts in Advanced Robotics, vol 110. Springer, Cham. https://doi.org/10.1007/978-3-319-24205-7_8
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DOI: https://doi.org/10.1007/978-3-319-24205-7_8
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-24203-3
Online ISBN: 978-3-319-24205-7
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