{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:26:37Z","timestamp":1760243197387,"version":"build-2065373602"},"reference-count":16,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2014,1,20]],"date-time":"2014-01-20T00:00:00Z","timestamp":1390176000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>An adaptive impedance control algorithm for tendon-driven dexterous hands is presented. The main idea of this algorithm is to compensate the output of the classical impedance control by an offset that is a proportion-integration-differentiation (PID) expression of force error. The adaptive impedance control can adjust the impedance parameters indirectly when the environment position and stiffness are uncertain. In addition, the position controller and inverse kinematics solver are specially designed for the tendon-driven hand. The performance of the proposed control algorithm is validated by using MATLAB and ADAMS software for joint simulation. ADAMS is a great software for virtual prototype analysis. A tendon-driven hand model is built and a control module is generated in ADAMS. Then the control system is built in MATLAB using the control module. The joint simulation results demonstrate fast response and robustness of the algorithm when the environment is not exactly known, so the algorithm is suitable for the control of tendon-driven dexterous hands.<\/jats:p>","DOI":"10.3390\/s140101723","type":"journal-article","created":{"date-parts":[[2014,1,21]],"date-time":"2014-01-21T02:45:00Z","timestamp":1390272300000},"page":"1723-1739","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["The Control of Tendon-Driven Dexterous Hands with  Joint Simulation"],"prefix":"10.3390","volume":"14","author":[{"given":"Jinbao","family":"Chen","sequence":"first","affiliation":[{"name":"College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dong","family":"Han","sequence":"additional","affiliation":[{"name":"College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2014,1,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"474","DOI":"10.1109\/TCST.2004.824320","article-title":"Force tracking impedance control of robot manipulators under unknown environment","volume":"12","author":"Jung","year":"2004","journal-title":"IEEE Trans. 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(2010, January 3\u20137). Design of Tendon-Driven Robotic Fingers: Modeling and Control Issues. Anchorage, AK, USA.","key":"ref_10","DOI":"10.1109\/ROBOT.2010.5509899"},{"key":"ref_11","first-page":"4","article-title":"Study on the modelling for wire rope substances in Adams","volume":"4","author":"Li","year":"2007","journal-title":"Mech. Manag. Dev."},{"key":"ref_12","first-page":"150","article-title":"The application of Macro command in ADAMS in building the virtual prototype of cable drill","volume":"39","author":"Li","year":"2011","journal-title":"Mach. Tool Hydraul."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"46","DOI":"10.1109\/37.569715","article-title":"Position-based impedance control of an industrial hydraulic manipulator","volume":"17","author":"Heinrichs","year":"1997","journal-title":"IEEE Control Syst."},{"doi-asserted-by":"crossref","unstructured":"Sadjadian, H., and Taghiradf, H.D. (2006, January 17\u201320). 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