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3D force control system design for a hydraulic parallel bellows continuum actuator

A parallel bellows continuum actuator has been developed for use as a finger in a subsea dextrous hand mounted on a commercial underwater hydraulic manipulator. To improve grasping and manipulation performance, a 3D force control system has been designed for each finger, using in-house proprietary force sensor designs. The paper describes the control system design, focusing on the derivation of the continuum actuator Jacobian matrix and kinematic equations ("continuumatics") necessary to implement the multi-dimensional control.