A parallel anti-parallelogram tendon-driven wrist with hierarchical control and particle-spring handkerchief model achieves stable periodic spinning with ~99% unfolding ratio and 2.88 mm RMSE fingertip tracking error.
Novel Variable Stiffness Bionic Parallel Wrist: Synthesis, Modeling, and Analysis
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Periodic Steady-State Control of a Handkerchief-Spinning Task Using a Parallel Anti-Parallelogram Tendon-driven Wrist
A parallel anti-parallelogram tendon-driven wrist with hierarchical control and particle-spring handkerchief model achieves stable periodic spinning with ~99% unfolding ratio and 2.88 mm RMSE fingertip tracking error.