ArticleMicromachines2025
Sensorless Impedance Control of Micro Finger Using Coprime Factorization.
Article in Micromachines, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Authors and funding
2 authors.
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Abstract
Soft robots are attracting attention as next-generation robots because they enable flexible movement. The micro finger is a soft robot that can bend and is small and can grasp objects of various shapes, so it is expected to be applied to surgical robots. However, because it is small, sensors cannot be attached, making it difficult to measure force. This paper proposes impedance control of the tip of a micro finger by estimating the tip force with an observer. The control system is designed using coprime factorization and Youla-Kucera parameterization by operator theory. The effectiveness of the proposed method is confirmed through experiments.
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Registered trials
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