A visual-servoing system for a humanlike shape memory alloy actuated finger

The control of robotic systems actuated by Shape Memory Alloy (SMA) wires is still an open issue. The goal of this work focuses on the development of a competent control system for a humanlike, 2-DOF, SMA actuated finger. We pursue this objective through a visual-servoing scheme and the implementation of classical decoupled PID controllers for the joint angles. Experimental results prove the efficacy and usability of the suggested scheme.