A single-motor, two-finger gripper uses an LSTM network on motor current to estimate contact forces, achieving force-feedback control without a force sensor.
The relationship between the force applied to the elastic and the deformation of the elastic ring needs to be built
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Construction of a Multiple-DOF Under-actuated Gripper with Force-Sensing via Deep Learning
A single-motor, two-finger gripper uses an LSTM network on motor current to estimate contact forces, achieving force-feedback control without a force sensor.