A hybrid-fuzzy controller design for the control of a flexible finger

We discuss a flexible robotic finger design and controller, which is used for a micro flexible robotic finger. In this study, we use piezoelectric bimorph cells for the micro flexible robotic finger's actuators. Another problem is controller design for more precise end point force control of the micro flexible finger. The controller adopted is the PD/PI mixed type fuzzy controller. The controller consists of two parts, one is a PD type fuzzy controller for increasing the rising time response, the other is a PI type fuzzy controller for decreasing the steady-state error.