Gunther Kegel

Papers

Total Citations

H-Index

About

Gunther Kegel is a robotics researcher whose work centers on the control and mechanical design of dexterous robotic hands, with a particular focus on the challenges of tendon-driven actuation systems. His most-cited paper, "Input-dependent stability on joint torque control of robot hand" (2002, 17 citations), addresses a critical issue in torque control for tendon-sheath mechanisms—namely, how friction and compliance introduce hysteresis that can destabilize joint torque output. This work, conducted using the first joint of the Darmstadt-HAND, provides foundational insights into the nonlinear dynamics of underactuated, cable-driven systems. Kegel’s contributions are notable for bridging practical hardware implementation with control theory, offering a framework for understanding input-dependent stability in compliant robotic joints. While his citation count reflects a focused, niche impact, his research is highly relevant to the development of robust, sensor-driven hand prosthetics and grippers. Kegel’s work remains a reference for engineers tackling the interplay between mechanical compliance and control stability in tendon-driven robotics.