{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T11:50:03Z","timestamp":1777636203736,"version":"3.51.4"},"reference-count":27,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,9]]},"DOI":"10.1109\/iros.2011.6094542","type":"proceedings-article","created":{"date-parts":[[2011,12,6]],"date-time":"2011-12-06T21:46:42Z","timestamp":1323208002000},"page":"4215-4221","source":"Crossref","is-referenced-by-count":19,"title":["Impedance control of a non-linearly coupled tendon driven thumb"],"prefix":"10.1109","author":[{"given":"M.","family":"Chalon","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"W.","family":"Friedl","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J.","family":"Reinecke","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"T.","family":"Wimboeck","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alin","family":"Albu-Schaeffer","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref10","article-title":"Robot hands and the mechanics of manipulation","author":"salisbury","year":"1985"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1989.100165"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543528"},{"key":"ref13","article-title":"Feedback linearization and simultaneous-position control of robot with antagonistic actuated joints","author":"palli","year":"2007","journal-title":"International Conference on Robotics and Automation"},{"key":"ref14","doi-asserted-by":"crossref","first-page":"1509","DOI":"10.1016\/S0005-1098(03)00142-0","article-title":"Adaptive neural network control of tendon-driven mechanisms with elastic tendons","volume":"39","author":"kobayashi","year":"2003","journal-title":"Automatica"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907073776"},{"key":"ref16","article-title":"A unified passivity based control framework for position, torque and impedance control of flexible joint robots","author":"albu-schaffer","year":"2005","journal-title":"International Symposium on Robotics Research"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4651079"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/11429555_4"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545354"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131824"},{"key":"ref27","article-title":"Cartesian impedance control of a stiffness adjustable arm","author":"petit","year":"2011","journal-title":"International Conference on Intelligent Robots and Systems"},{"key":"ref3","article-title":"A method for hand kinematics designers 7 billion perfect hands","author":"grebenstein","year":"2010","journal-title":"Biomechanics"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389573"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041607"},{"key":"ref8","article-title":"Model and control of tendon actuated robots","author":"palli","year":"2007","journal-title":"Ph D Dissertation"},{"key":"ref7","article-title":"Joint-space torque and stiffness control of tendon-driven manipulators","author":"platt","year":"2010","journal-title":"International Conference on Intelligent Robots and Systems"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5650454"},{"key":"ref9","first-page":"2150","article-title":"Utah\/mit dextrous hand - work in progress","volume":"3","author":"jacobsen","year":"1984","journal-title":"IJRR"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980371"},{"key":"ref20","first-page":"22012207","article-title":"Antagonistic control of multidof joint by using the actuator with non-linear elasticity","author":"koganezawa","year":"2005","journal-title":"ICRA"},{"key":"ref22","author":"greville","year":"2003","journal-title":"Generalized Inverses"},{"key":"ref21","article-title":"Fas a flexible antagonistic spring element for a high performance tendon driven hand","author":"werner","year":"2011","journal-title":"submitted IROS"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2010.5686342"},{"key":"ref23","author":"murray","year":"1994","journal-title":"A Mathematical Introduction to Robotic Manipulation"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509998"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700507"}],"event":{"name":"2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)","location":"San Francisco, CA","start":{"date-parts":[[2011,9,25]]},"end":{"date-parts":[[2011,9,30]]}},"container-title":["2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/6034548\/6094399\/06094542.pdf?arnumber=6094542","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,6,20]],"date-time":"2017-06-20T10:54:25Z","timestamp":1497956065000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6094542\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,9]]},"references-count":27,"URL":"https:\/\/doi.org\/10.1109\/iros.2011.6094542","relation":{},"subject":[],"published":{"date-parts":[[2011,9]]}}}