An overview of active compliance control for a robotic hand
It is vital to ensure that a robotic hand can successfully grasp the objects without damaging them. In order to allow a safe grasping, a technique called an active compliance control has been deployed. Active compliance control is an increasingly employed technique used in the robotic field such as...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Asian Research Publishing Network (ARPN)
2016
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/3391/ http://eprints.uthm.edu.my/3391/1/AJ%202017%20%2823%29%20An%20overview%20of%20active%20compliance%20control%20for%20a%20robotic%20hand.pdf |
| _version_ | 1848888006473154560 |
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| author | Sadun, Amirul Syafiq Jalani, Jamaludin Abdul Sukor, Jumadi |
| author_facet | Sadun, Amirul Syafiq Jalani, Jamaludin Abdul Sukor, Jumadi |
| author_sort | Sadun, Amirul Syafiq |
| building | UTHM Institutional Repository |
| collection | Online Access |
| description | It is vital to ensure that a robotic hand can successfully grasp the objects without damaging them. In order to allow a safe grasping, a technique called an active compliance control has been deployed. Active compliance control is an increasingly employed technique used in the robotic field such as service robotics, virtual reality and haptics, telemanipulation, human augmentation, and assistant. Recent research trends show that there are two main methods used in establishing active compliance control for robotic hand namely the force control and the impedance control. This paper highlights a summary of currently related works on active compliant control by using the force control and the impedance control. In addition, several control strategies of active compliance control are also discussed and highlighted for a safe
grasping. |
| first_indexed | 2025-11-15T20:03:25Z |
| format | Article |
| id | uthm-3391 |
| institution | Universiti Tun Hussein Onn Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T20:03:25Z |
| publishDate | 2016 |
| publisher | Asian Research Publishing Network (ARPN) |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | uthm-33912021-11-17T03:10:24Z http://eprints.uthm.edu.my/3391/ An overview of active compliance control for a robotic hand Sadun, Amirul Syafiq Jalani, Jamaludin Abdul Sukor, Jumadi TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) It is vital to ensure that a robotic hand can successfully grasp the objects without damaging them. In order to allow a safe grasping, a technique called an active compliance control has been deployed. Active compliance control is an increasingly employed technique used in the robotic field such as service robotics, virtual reality and haptics, telemanipulation, human augmentation, and assistant. Recent research trends show that there are two main methods used in establishing active compliance control for robotic hand namely the force control and the impedance control. This paper highlights a summary of currently related works on active compliant control by using the force control and the impedance control. In addition, several control strategies of active compliance control are also discussed and highlighted for a safe grasping. Asian Research Publishing Network (ARPN) 2016 Article PeerReviewed text en http://eprints.uthm.edu.my/3391/1/AJ%202017%20%2823%29%20An%20overview%20of%20active%20compliance%20control%20for%20a%20robotic%20hand.pdf Sadun, Amirul Syafiq and Jalani, Jamaludin and Abdul Sukor, Jumadi (2016) An overview of active compliance control for a robotic hand. ARPN Journal of Engineering and Applied Sciences, 11 (20). pp. 11872-11876. ISSN 1819-6608 https://www.researchgate.net/publication/310511186_An_overview_of_active_compliance_control_for_a_robotic_hand |
| spellingShingle | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Sadun, Amirul Syafiq Jalani, Jamaludin Abdul Sukor, Jumadi An overview of active compliance control for a robotic hand |
| title | An overview of active compliance control for a robotic hand |
| title_full | An overview of active compliance control for a robotic hand |
| title_fullStr | An overview of active compliance control for a robotic hand |
| title_full_unstemmed | An overview of active compliance control for a robotic hand |
| title_short | An overview of active compliance control for a robotic hand |
| title_sort | overview of active compliance control for a robotic hand |
| topic | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| url | http://eprints.uthm.edu.my/3391/ http://eprints.uthm.edu.my/3391/ http://eprints.uthm.edu.my/3391/1/AJ%202017%20%2823%29%20An%20overview%20of%20active%20compliance%20control%20for%20a%20robotic%20hand.pdf |