By Topic

Control of a multi-fingered robotic hand using a method of blocks

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
S. M. Spano ; Dept. of Electr. Eng., Binghamton Univ., NY, USA ; N. Bourbakis

The control of a mechanical robotic hand is plagued by an inability to derive accurate dynamic models of such a mechanism. The aspects of static and kinetic friction are major obstacles in the control of a mechanical hand. This paper presents a fuzzy-based controller which has the ability to automatically regenerate the member set during the translation of any arbitrary joint in such a mechanism. A series of simulations has been conducted which illustrate the effectiveness of this controller for providing smooth translation, independent of frictional forces. This controller is applied to a custom-designed hand mechanism and is capable of operating via an IBM compatible computer. A hand with a progressively linked finger structure is used for simplicity. An acquisition system has also been designed which allows bi-directional communication with the sensors and actuators of the hand

Published in:

Information Intelligence and Systems, 1999. Proceedings. 1999 International Conference on

Date of Conference: