IMU-Enabled Robotic Finger Force Estimation With Modular Soft Actuators and Virtual Linkages - Lin, Sheng-Guan; Chang, Hsien-Ting; Chang, Jen-Yuan (IEEE transactions on magnetics, 2024)
Keywords: Accelerometers; Actuators; Couplings; End effectors; Estimation; Fingers; Force estimating; Force measurement; Humanoid; inertial measurement units (IMUs); Inertial platforms; Jacobi matrix method; Jacobian matrices; Jacobian matrix; Linkages; Magnetometers; modular soft actuators (MSAs); Modular units; Position measurement; Position sensing; Robot control; Robotics; Sensor arrays; Shaft encoders; Soft robotics; Task complexity; Torque