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Study on the structure and control of a dexterous hand

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4 Author(s)
Hao Liu ; Sch. of Autom., Beijing Inst. of Technol., Beijing, China ; Tao Wang ; Wei Fan ; Tong Zhao

A new dexterous hand is designed and produced. The shape and structure of the dexterous hand is described, focused on analyzing the layout of tendons and the optimization of the joint radius. Furthermore, a single finger is controlled by Fuzz-PID with model compensation and the good control precision is achieved. Through the study on the single finger control, the master-slave control of the dextrous hand is realized simulating the movement of human hand with a cyber-glove.

Published in:

Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on

Date of Conference:

7-10 Dec. 2010