W. Paetsch
Papers
7
Total Citations
162
H-Index
4
About
W. Paetsch is a pioneering researcher in dexterous robotic manipulation, best known for foundational work on tendon-driven robot hands and joint torque control. Their research centers on the mechanics, stability, and control of multifingered grippers, with a particular focus on overcoming the nonlinearities introduced by tendon-sheath drive systems. Paetsch’s most influential contribution is the discovery and analysis of input-dependent stability in joint torque control, first reported in a 1992 paper (90 citations) using the Darmstadt-HAND. This work identified how friction and compliance in tendon-sheath systems create hysteresis between actuator displacement and joint torque, a critical insight for designing stable, precise robotic hands. Paetsch also developed a three-fingered, multijointed gripper for experimental use (45 citations), which provided a versatile platform for grasping and object manipulation studies. Additional contributions include a simple approach for hand-arm coordination and work on learning incremental actions for real-time control. With over 160 total citations, Paetsch’s research remains essential reading for roboticists working on dexterous manipulation, tendon-driven mechanisms, and the control of underactuated hands.
Research Focus
Key Achievements
Top Papers
- 1
- 2A three fingered, multijointed gripper for experimental use45 citations · 2002
- 3Input-dependent stability on joint torque control of robot hand17 citations · 2002
- 4A simple approach for hand-arm coordination4 citations · 2002
- 5
- 6On Realising Various Grasps with a Given Dexterous Robot Hand2 citations · 1993
- 7