Torque control of underactuated tendon-driven fingers

Abdallah, M. E.; Wampler, C. W.

doi:10.5194/ms-2-83-2011

Articles | Volume 2, issue 1

https://doi.org/10.5194/ms-2-83-2011

© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue:

Underactuated Grasping

https://doi.org/10.5194/ms-2-83-2011

© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.

Articles | Volume 2, issue 1

08 Feb 2011

| 08 Feb 2011

Torque control of underactuated tendon-driven fingers

M. E. Abdallah and C. W. Wampler

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Total article views: 2,178 (including HTML, PDF, and XML)

HTML	PDF	XML	Total	BibTeX	EndNote
1,163	884	131	2,178	173	194

HTML: 1,163
PDF: 884
XML: 131
Total: 2,178
BibTeX: 173
EndNote: 194

Views and downloads (calculated since 01 Feb 2013)

Month	HTML	PDF	XML	Total
Feb 2013	8	8	1	17
Mar 2013	10	1	2	13
Apr 2013	7	14	0	21
May 2013	7	10	0	17
Jun 2013	7	5	1	13
Jul 2013	1	7	0	8
Aug 2013	10	3	0	13
Sep 2013	2	10	0	12
Oct 2013	5	10	1	16
Nov 2013	4	4	1	9
Dec 2013	7	5	1	13
Jan 2014	7	4	2	13
Feb 2014	5	6	2	13
Mar 2014	9	11	1	21
Apr 2014	3	22	1	26
May 2014	3	0	3
Jun 2014	3	5	1	9
Jul 2014	3	14	0	17
Aug 2014	10	10	6	26
Sep 2014	3	8	0	11
Oct 2014	4	8	0	12
Nov 2014	4	4	0	8
Dec 2014	2	8	1	11
Jan 2015	3	6	1	10
Feb 2015	1	6	0	7
Mar 2015	6	3	1	10
Apr 2015	3	0	3
May 2015	7	6	2	15
Jun 2015	21	4	0	25
Jul 2015	12	5	0	17
Aug 2015	6	8	0	14
Sep 2015	6	2	2	10
Oct 2015	14	12	2	28
Nov 2015	14	5	1	20
Dec 2015	2	3	0	5
Jan 2016	3	5	0	8
Feb 2016	2	8	1	11
Mar 2016	7	5	1	13
Apr 2016	2	2	0	4
May 2016	1	1	0	2
Jun 2016	2	0	2
Jul 2016	1	1	2
Aug 2016	2	0	2
Sep 2016	3	1	0	4
Oct 2016	1	4	1	6
Nov 2016	1	2	0	3
Dec 2016	5	0	5
Jan 2017	4	4	0	8
Feb 2017	4	0	4
Mar 2017	4	3	1	8
Apr 2017	8	1	0	9
May 2017	12	3	2	17
Jun 2017	1	2	0	3
Jul 2017	2	0	2
Aug 2017	2	3	1	6
Sep 2017	1	5	0	6
Oct 2017	2	4	0	6
Nov 2017	2	2	0	4
Dec 2017	2	3	0	5
Jan 2018	5	5	1	11
Feb 2018	5	3	8
Mar 2018	7	7	0	14
Apr 2018	3	2	0	5
May 2018	6	2	0	8
Jun 2018	2	3	0	5
Jul 2018	5	2	1	8
Aug 2018	8	8	1	17
Sep 2018	6	7	1	14
Oct 2018	4	3	0	7
Nov 2018	6	4	0	10
Dec 2018	12	4	1	17
Jan 2019	4	6	0	10
Feb 2019	2	0	2
Mar 2019	1	5	0	6
Apr 2019	6	7	0	13
May 2019	5	10	1	16
Jun 2019	3	7	0	10
Jul 2019	3	4	1	8
Aug 2019	3	4	0	7
Sep 2019	3	6	0	9
Oct 2019	3	5	1	9
Nov 2019	4	4	0	8
Dec 2019	2	1	0	3
Jan 2020	6	6	0	12
Feb 2020	4	5	0	9
Mar 2020	1	5	0	6
Apr 2020	3	4	0	7
May 2020	2	1	0	3
Jun 2020	33	7	1	41
Jul 2020	21	12	13	46
Aug 2020	4	7	4	15
Sep 2020	7	2	0	9
Oct 2020	12	8	1	21
Nov 2020	4	4	0	8
Dec 2020	7	3	0	10
Jan 2021	17	5	0	22
Feb 2021	5	2	0	7
Mar 2021	6	6	0	12
Apr 2021	7	2	0	9
May 2021	8	5	1	14
Jun 2021	12	8	0	20
Jul 2021	8	7	0	15
Aug 2021	4	2	0	6
Sep 2021	12	5	0	17
Oct 2021	6	17	0	23
Nov 2021	14	16	0	30
Dec 2021	13	0	13
Jan 2022	9	10	0	19
Feb 2022	5	3	2	10
Mar 2022	4	2	0	6
Apr 2022	5	6	0	11
May 2022	9	5	0	14
Jun 2022	4	2	0	6
Jul 2022	7	6	1	14
Aug 2022	6	3	0	9
Sep 2022	2	2	0	4
Oct 2022	6	3	0	9
Nov 2022	5	6	0	11
Dec 2022	7	6	0	13
Jan 2023	5	6	0	11
Feb 2023	5	7	0	12
Mar 2023	6	4	0	10
Apr 2023	3	0	3
May 2023	5	7	0	12
Jun 2023	6	4	1	11
Jul 2023	4	5	0	9
Aug 2023	7	0	7
Sep 2023	3	10	0	13
Oct 2023	3	8	0	11
Nov 2023	4	0	4
Dec 2023	2	3	0	5
Jan 2024	3	5	1	9
Feb 2024	3	4	1	8
Mar 2024	1	5	1	7
Apr 2024	15	9	7	31
May 2024	12	4	1	17
Jun 2024	16	5	1	22
Jul 2024	27	2	3	32
Aug 2024	26	4	3	33
Sep 2024	10	1	1	12
Oct 2024	6	5	1	12
Nov 2024	5	1	0	6
Dec 2024	7	2	1	10
Jan 2025	5	5	0	10
Feb 2025	20	7	0	27
Mar 2025	10	6	2	18
Apr 2025	14	6	0	20
May 2025	14	4	2	20
Jun 2025	19	10	0	29
Jul 2025	15	7	1	23
Aug 2025	11	4	1	16
Sep 2025	28	12	0	40
Oct 2025	32	16	2	50
Nov 2025	27	11	2	40
Dec 2025	19	8	1	28
Jan 2026	25	16	9	50
Feb 2026	19	7	6	32
Mar 2026	9	10	2	21
Apr 2026	21	15	7	43
May 2026	11	6	2	19
Jun 2026	2	2	0	4
Jul 2026	15	14	0	29

Cumulative views and downloads (calculated since 01 Feb 2013)

Month	HTML	PDF	XML	Total
Feb 2013	8	8	1	17
Mar 2013	10	1	2	13
Apr 2013	7	14	0	21
May 2013	7	10	0	17
Jun 2013	7	5	1	13
Jul 2013	1	7	0	8
Aug 2013	10	3	0	13
Sep 2013	2	10	0	12
Oct 2013	5	10	1	16
Nov 2013	4	4	1	9
Dec 2013	7	5	1	13
Jan 2014	7	4	2	13
Feb 2014	5	6	2	13
Mar 2014	9	11	1	21
Apr 2014	3	22	1	26
May 2014	3	0	3
Jun 2014	3	5	1	9
Jul 2014	3	14	0	17
Aug 2014	10	10	6	26
Sep 2014	3	8	0	11
Oct 2014	4	8	0	12
Nov 2014	4	4	0	8
Dec 2014	2	8	1	11
Jan 2015	3	6	1	10
Feb 2015	1	6	0	7
Mar 2015	6	3	1	10
Apr 2015	3	0	3
May 2015	7	6	2	15
Jun 2015	21	4	0	25
Jul 2015	12	5	0	17
Aug 2015	6	8	0	14
Sep 2015	6	2	2	10
Oct 2015	14	12	2	28
Nov 2015	14	5	1	20
Dec 2015	2	3	0	5
Jan 2016	3	5	0	8
Feb 2016	2	8	1	11
Mar 2016	7	5	1	13
Apr 2016	2	2	0	4
May 2016	1	1	0	2
Jun 2016	2	0	2
Jul 2016	1	1	2
Aug 2016	2	0	2
Sep 2016	3	1	0	4
Oct 2016	1	4	1	6
Nov 2016	1	2	0	3
Dec 2016	5	0	5
Jan 2017	4	4	0	8
Feb 2017	4	0	4
Mar 2017	4	3	1	8
Apr 2017	8	1	0	9
May 2017	12	3	2	17
Jun 2017	1	2	0	3
Jul 2017	2	0	2
Aug 2017	2	3	1	6
Sep 2017	1	5	0	6
Oct 2017	2	4	0	6
Nov 2017	2	2	0	4
Dec 2017	2	3	0	5
Jan 2018	5	5	1	11
Feb 2018	5	3	8
Mar 2018	7	7	0	14
Apr 2018	3	2	0	5
May 2018	6	2	0	8
Jun 2018	2	3	0	5
Jul 2018	5	2	1	8
Aug 2018	8	8	1	17
Sep 2018	6	7	1	14
Oct 2018	4	3	0	7
Nov 2018	6	4	0	10
Dec 2018	12	4	1	17
Jan 2019	4	6	0	10
Feb 2019	2	0	2
Mar 2019	1	5	0	6
Apr 2019	6	7	0	13
May 2019	5	10	1	16
Jun 2019	3	7	0	10
Jul 2019	3	4	1	8
Aug 2019	3	4	0	7
Sep 2019	3	6	0	9
Oct 2019	3	5	1	9
Nov 2019	4	4	0	8
Dec 2019	2	1	0	3
Jan 2020	6	6	0	12
Feb 2020	4	5	0	9
Mar 2020	1	5	0	6
Apr 2020	3	4	0	7
May 2020	2	1	0	3
Jun 2020	33	7	1	41
Jul 2020	21	12	13	46
Aug 2020	4	7	4	15
Sep 2020	7	2	0	9
Oct 2020	12	8	1	21
Nov 2020	4	4	0	8
Dec 2020	7	3	0	10
Jan 2021	17	5	0	22
Feb 2021	5	2	0	7
Mar 2021	6	6	0	12
Apr 2021	7	2	0	9
May 2021	8	5	1	14
Jun 2021	12	8	0	20
Jul 2021	8	7	0	15
Aug 2021	4	2	0	6
Sep 2021	12	5	0	17
Oct 2021	6	17	0	23
Nov 2021	14	16	0	30
Dec 2021	13	0	13
Jan 2022	9	10	0	19
Feb 2022	5	3	2	10
Mar 2022	4	2	0	6
Apr 2022	5	6	0	11
May 2022	9	5	0	14
Jun 2022	4	2	0	6
Jul 2022	7	6	1	14
Aug 2022	6	3	0	9
Sep 2022	2	2	0	4
Oct 2022	6	3	0	9
Nov 2022	5	6	0	11
Dec 2022	7	6	0	13
Jan 2023	5	6	0	11
Feb 2023	5	7	0	12
Mar 2023	6	4	0	10
Apr 2023	3	0	3
May 2023	5	7	0	12
Jun 2023	6	4	1	11
Jul 2023	4	5	0	9
Aug 2023	7	0	7
Sep 2023	3	10	0	13
Oct 2023	3	8	0	11
Nov 2023	4	0	4
Dec 2023	2	3	0	5
Jan 2024	3	5	1	9
Feb 2024	3	4	1	8
Mar 2024	1	5	1	7
Apr 2024	15	9	7	31
May 2024	12	4	1	17
Jun 2024	16	5	1	22
Jul 2024	27	2	3	32
Aug 2024	26	4	3	33
Sep 2024	10	1	1	12
Oct 2024	6	5	1	12
Nov 2024	5	1	0	6
Dec 2024	7	2	1	10
Jan 2025	5	5	0	10
Feb 2025	20	7	0	27
Mar 2025	10	6	2	18
Apr 2025	14	6	0	20
May 2025	14	4	2	20
Jun 2025	19	10	0	29
Jul 2025	15	7	1	23
Aug 2025	11	4	1	16
Sep 2025	28	12	0	40
Oct 2025	32	16	2	50
Nov 2025	27	11	2	40
Dec 2025	19	8	1	28
Jan 2026	25	16	9	50
Feb 2026	19	7	6	32
Mar 2026	9	10	2	21
Apr 2026	21	15	7	43
May 2026	11	6	2	19
Jun 2026	2	2	0	4
Jul 2026	15	14	0	29

Cited

Latest update: 31 Jul 2026

Torque control of underactuated tendon-driven fingers

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