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This paper presents nonlinear disturbance observers for object grasping/manipulation by a multi-fingered robot hand. Our method makes it possible to estimate external forces without measuring joint accelerations. Global exponential convergences of the estimated disturbances to the true values are proven based on the Lyapunov theory. Computational simulations are presented to show the effectiveness of the proposed disturbance observers.
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Ueki et al. (2017) studied this question.
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