An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control

A transhumeral prosthesis with an artificial neuromuscular system: Sim2real-guided design, modeling, and control

“…The direct kinematics can be computed at each control cycle based on a given tendon length l via the optimization problem (Chalon et al, 2011;Toedtheide et al, 2021) minimize…”

“…for our floating base system. The joint torque uses τ ¼ ðτ 1 , τ 2 , τ wr1 , τ wr2 Þ T with τ wr1 , τ wr2 from the virtual joint torque sensor of the wrist (19) as proposed in (Toedtheide et al, 2021). As a reference, the ability to estimate contacts by proprioceptive measurements can also be found in human biology (Proske and Gandevia, 2012).…”

“…Wrist torque. The maximum wrist output torque is investigated by the solving following optimization problem (Toedtheide et al, 2021). Specifically, we seek for arbitrary orientations of e. The variable X is increased until one of the tendon forces F t exceeds its respective applicable tendon force F t, max : maxjX j s:t:…”

“…The direct kinematics can be computed at each control cycle based on a given tendon length l via the optimization problem (Chalon et al, 2011; Toedtheide et al, 2021)in realtime, where bold-italich^ is the modeled tendon length. 8 Joint velocities are obtained viawhere PT#(bold-italicq) is the pseudo inverse of P T ( q ).…”

“…The generalized floating base momentum observer from (De Luca and Mattone, 2003; Haddadin et al, 2017), is used for estimating joint torque, wherefor our floating base system. The joint torque uses τ=(τ1,τ2,τwr1,τwr2)T with τ wr1 , τ wr2 from the virtual joint torque sensor of the wrist (19) as proposed in (Toedtheide et al, 2021). As a reference, the ability to estimate contacts by proprioceptive measurements can also be found in human biology (Proske and Gandevia, 2012).…”