Cartesian impedance control for HIT dexterous robot hand based on fingertip force sensor

A Cartesian impedance control for the HIT dexterous robot hand based on 5-dimension fingertip force/torque sensor is presented. The finger appears as 2-order mechanical impedance when it contacts with an obstacle. The impedance arithmetic dose not need to calculate actual acceleration directly and avoids the disadvantage caused by big acceleration error. In the impedance arithmetic, desired trajectory is combined with actual position and velocity of the finger to produce reference trajectory. By the reference trajectory, the finger can obtain desired impedance automatically.