{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,11,19]],"date-time":"2023-11-19T11:53:35Z","timestamp":1700394815011},"reference-count":15,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":5000,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1995,7]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>This paper addresses a method of satisfactorily controlling the grasp of objects. Emphasis is placed on achieving the desired stiffness of a grasped object as accurately as possible, especially when the fingers have redundant joints. A model describing the relation between stiffness and force is derived. Based upon this model, a hierarchical control scheme of the grasp stiffness, called <jats:italic>decentralized object stiffness control<\/jats:italic> (<jats:italic>DOSC<\/jats:italic>) is proposed. <jats:italic>DOSC<\/jats:italic> is composed of a <jats:italic>fingertip stiffness synthesis<\/jats:italic> (<jats:italic>FSS<\/jats:italic>) algorithm and <jats:italic>orthogonal stiffness decomposition control<\/jats:italic> (<jats:italic>OSDC<\/jats:italic>). Employing the proposed <jats:italic>FSS<\/jats:italic> always achieves the desired grasp stiffness by solving the constrained least square problem. The computed fingertip stiffness is achieved by <jats:italic>OSDC<\/jats:italic>. It offers a feasible way of controlling the fingertip stiffness as well as maintaining the stability of the finger configuration by modulating the joint stiffness. The developed control method is implemented on a two-fingered planar robot hand one finger of which has a redundant joint. The effectiveness of the control method is confirmed experimentally.<\/jats:p>","DOI":"10.1017\/s0263574700018786","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T09:11:46Z","timestamp":1236676306000},"page":"351-362","source":"Crossref","is-referenced-by-count":2,"title":["Control of grasp stiffness using a multifingered robot hand with redundant joints"],"prefix":"10.1017","volume":"13","author":[{"given":"H. R.","family":"Choi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"W. K.","family":"Chung","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Y.","family":"Youm","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700018786_ref010","first-page":"546","article-title":"Grasp Control for a Multifingered Hand with Kinematic Redundancy","volume":"33","author":"Maekawa","year":"1990","journal-title":"JSME Int. J. Series III"},{"key":"S0263574700018786_ref005","doi-asserted-by":"publisher","DOI":"10.1109\/70.88036"},{"key":"S0263574700018786_ref004","doi-asserted-by":"publisher","DOI":"10.1016\/0921-8890(92)90013-O"},{"key":"S0263574700018786_ref014","unstructured":"14. Hirose S. and Ma S. , \u201cCoupled Tendon-driven Multijoint Manipulator\u201d Proc. IEEE Int. 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