科研之友
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摘要
A control framework is proposed that autonomously modulates a dexterous grasp synergy to proactively prevent grasped object slip. The proposed controller offers a practical means of preventing slip in uncertain environments, such as upper-limb prosthetics applications. The controller was evaluated with slip prevention experiments in which a dexterous manipulator grasped four separate objects and was subsequently excited by a robotic arm. Results showed that the proposed strategy significantly reduced grasped object slip.
- 出版日期2017-4
