@inproceedings{morita_design_1995,
	title = {Design and development of a new robot joint using a mechanical impedance adjuster},
	volume = {3},
	doi = {10.1109/ROBOT.1995.525630},
	abstract = {The object of our work is to realize passive impedance on the joints of robot fingers by mechanical elements, as leaf springs and brakes, and to develop robot fingers using the new mechanism to grasp objects softly. This paper presents a new joint mechanism, named “mechanical impedance adjuster”, and an impedance control method of the robot finger joint by this mechanism. The effectiveness of this method is shown by the experiment on a 1-DOF finger model},
	booktitle = {Proceedings of 1995 {IEEE} {International} {Conference} on {Robotics} and {Automation}},
	author = {Morita, T. and Sugano, S.},
	month = may,
	year = {1995},
	keywords = {Actuators, Control systems, Damping, Fingers, Force control, Impedance, Joints, Robot control, Servomechanisms, Springs, brakes, compensation, compliance control, control system synthesis, damping, impedance control, leaf springs, manipulators, mechanical impedance adjuster, mechanical variables control, object grasping, passive impedance, robot fingers, robot joint, self weight compensation, self-adjusting systems, vibration control},
	pages = {2469--2475 vol.3}
}

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