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Update hands_mk5_coupling.md
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pattacini authored Jan 28, 2025

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@@ -20,6 +20,14 @@ Unless specified otherwise, angles reported in the next sections follow the conv
- $q_1$ is the variable angle of the first phalanx.
- $q_2$ is the variable angle of the second phalanx.

!!! note "Joint angle feedback"

The joint encoder is mounted in position $P_0$, hence we can measure the angle $q_0$ that in turn is used to close the control loop.

!!! note "Motor encoder feedback"

A quadrature encoder is mounted on the motor shaft, which is currently used only to handle the tendon wrapping.

## Coupling Laws

Considering the following quantities:
@@ -129,4 +137,4 @@ The following table describes the coupling variables of the finger mechanisms in
| $s$ | mm | 6.52 | 5.5 | 5.5 | 5.5 | 5.5 | Distance between joint $B$ of the connecting rod $A-B$ and joint $P_0$ |
| $t$ | mm | 13 | 14.5 | 14.5 | 14.5 | 14.5 | Length of the connecting rod $A-B$ |
| $f$ | mm | 6 | 5.5 | 5.5 | 5.5 | 5.5 | Length of the connecting rod $A-C$ |
| $r$ | mm | 7.5 | 8.5 | 8.5 | 8.5 | 8.5 | Length of the connecting rod $D-C$ |
| $r$ | mm | 7.5 | 8.5 | 8.5 | 8.5 | 8.5 | Length of the connecting rod $D-C$ |

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