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simmediumgraspingmetric · varies
A novel parameter estimation method for pneumatic soft hand control applying logarithmic decrement for pseudo rigid body modeling
Description
The rapid advancement in physical human-robot interaction (HRI) has accelerated the development of soft robot designs and controllers. Controlling soft robots, especially soft hand grasping, is challenging due to their continuous deformation, motivating the use of reduced model-based controllers for real-time dynamic performance. Most existing models, however, suffer from computational inefficiency and complex parameter identification, limiting their real-time applicability. To address this, we