Next Article in Journal
Modeling and Characterization of the Implant Intra-Body Communication Based on Capacitive Coupling Using a Transfer Function Method
Previous Article in Journal
Wearable Gait Measurement System with an Instrumented Cane for Exoskeleton Control
Sensors 2014, 14(1), 1723-1739; doi:10.3390/s140101723

The Control of Tendon-Driven Dexterous Hands with Joint Simulation

*  and
College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
* Author to whom correspondence should be addressed.
Received: 7 December 2013 / Revised: 3 January 2014 / Accepted: 6 January 2014 / Published: 20 January 2014
(This article belongs to the Section Physical Sensors)


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.
Keywords: adaptive impedance control; tendon-driven dexterous hand; joint simulation adaptive impedance control; tendon-driven dexterous hand; joint simulation
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Share & Cite This Article

Further Mendeley | CiteULike
Export to BibTeX |
EndNote |
MDPI and ACS Style

Chen, J.; Han, D. The Control of Tendon-Driven Dexterous Hands with Joint Simulation. Sensors 2014, 14, 1723-1739.

View more citation formats

Related Articles

Article Metrics

For more information on the journal, click here


[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert