Contact transition control: an experimental study

Several methods for controlling the transition from free motion to constrained motion are examined, with an emphasis on minimizing fingertip load oscillations during the transition. An approach based on input command shaping is discussed and compared with several methods developed in prior research. The various techniques were evaluated on a one-axis impact testbed, and results from those experiments are presented. The input shaping method was found to be comparable, and in some cases superior, to existing techniques of contact transition control