Research on Grasping Strategy of CTSA-II Hand

To solves the problem of insufficient generality of CTSA-II hand at different heights, four feasible grasping strategies are proposed in this paper. Four strategies are analyzed in detail from the aspects of feasibility and complexity, and Strategy D is selected for the in-depth study after comparison. The idea of Strategy D is to detect the pressure change in CTSA-II hand device to assist in determining when to use a negative pressure drive. Based on Strategy D, a complete CTSA-II hand system is constructed. Through a large number of experimental calibration and verification, this system solves the problem of insufficient generality of CTSA-II hand. and makes CTSA-II hand show good performance. It plays an important role in the application and development of CTSA-II hand.