Automated cloth handling using adaptive force feedback

F. Swern, S. Tricamo, A. Van der Veen

Research output: Contribution to journalArticle

20 Scopus citations


In this paper, a control loop for the handling of cloth is described and tested. The control loop is an adaptive force feedback controller which both provides correct tension on the cloth and straightens wrinkles in the cloth. The control loop was implemented and tested on a PUMA 560 robot with a LORD 15/50 force/torque sensor mounted on its wrist. Experiments demonstrate the ability of the control loop to straighten the cloth and to exert a specified tension on the cloth.

Original languageEnglish (US)
Pages (from-to)731-733
Number of pages3
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number4
StatePublished - Dec 1992
Externally publishedYes


All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Information Systems
  • Instrumentation
  • Control and Systems Engineering
  • Computer Science Applications

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