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Control

Arm

low intrinsic damping of passive elasticities: oscillatory dynamics

=> active damping control by state feedback control and system flatness property

combination of active control with passive elasticities to increase the stiffness range

=> active/passive Cartesian Impedance control scheme

Disturbance damping	Active/passive impedance control

Hand

• anthropomorphic kinematic offers excellent grasping capabilities
• flexible tendons provide impressive robustness but require complex control scheme
• internal forces can modulate the joint stiffness but must satisfy the torque and pulling constraints

Non-linear thumb control	Grasping synergies

VIDEOS:

Active damping control:
http://youtu.be/nw_PRZeiNs8