Open AccessJournal Article
Principle of Superposition for Realizing Dexterous Pinching Motions of a Pair of Robot Fingers with Soft-Tips
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This article is published in IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences.The article was published on 2001-01-01 and is currently open access. It has received 34 citations till now. The article focuses on the topics: Superposition principle.read more
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Journal ArticleDOI
Principles of superposition for controlling pinch motions by means of robot fingers with soft tips
TL;DR: It is shown that a principle of superposition is applicable to the design of additional feedback signals for controlling both the posture and position of the object provided that the number of degrees of freedom of each finger is specified for satisfying a condition of stationary resolution of controlled position state variables.
Journal ArticleDOI
Prehension synergies: trial-to-trial variability and hierarchical organization of stable performance
TL;DR: It is shown that multi-digit synergies as relations among digit forces and points of their application across multiple repetitions of a static prehensile task, and stable performance was achieved.
Journal ArticleDOI
A Controller Design Method Based on Functionality
TL;DR: The authors have proposed a method to design a hyper-degrees-of-freedom (DOF) control system efficiently that decouples a large control system into small independent components called ldquofunction and experimental results show the validity of the method.
Journal ArticleDOI
Prehension synergies: trial-to-trial variability and principle of superposition during static prehension in three dimensions
TL;DR: The principle of superposition is valid for the prehension in three dimensions and the observed high correlations among forces and moments associated with the control of object orientation could be explained by chain effects, the sequences of cause-effect relations necessitated by mechanical constraints.
Journal ArticleDOI
The principle of superposition in human prehension
TL;DR: The experimental evidence supports the validity of the principle of superposition for multi-finger prehension in humans and the effects of the two commands are summed up.