@ARTICLE{6140578, author={G. Palli and C. Natale and C. May and C.
Melchiorri and T. Wurtz}, journal={IEEE/ASME Transactions on
Mechatronics}, title={Modeling and Control of the Twisted String
Actuation System}, year={2013}, volume={18}, number={2},
pages={664-673}, keywords={actuators;DC motors;dexterous
manipulators;force control;twisted string actuation
system;innovative actuation concept;tendon-based driving system;DC
motor;direct current motor;robotic device;constitutive
equation;actuation force control;robotic hand;force
profile;second-order sliding manifold;control algorithm;DC
motors;Force;Load modeling;Robot sensing
systems;Actuators;Mathematical model;Actuation;robotic
hands;tendons;transmission system},
doi={10.1109/TMECH.2011.2181855}, ISSN={1083-4435}, month={April},}