Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder
Clemens C. Christoph,Amirhossein Kazemipour,Michel R. Vogt,Yu Zhang,Robert K. Katzschmann,Clemens C. Christoph,Amirhossein Kazemipour,Michel R. Vogt,Yu Zhang,Robert K. Katzschmann
The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness inherent in their biological counterparts. A major limitation of these designs is their reliance on external sensors like rotary encoders, which restrict mechanical jo...
