A Microcontroller Based Four Fingered Robotic Hand

In this paper we deal with the design and development of a Four Fingered Robotic Hand (FFRH) using 8-bit microcontroller, sensors and wireless feedback. The design of the system is based ona simple, flexible and minimal control strategy. The robot system has 14 independent commands for allthe four fingers open and close, wrist up and down, base clockwise and counter clockwise, Pick andPlace and Home position to move the fingers. Implementation of pick and place operation of the objectusing these commands are discussed. The mechanical hardware design of the Robotic hand based onconnected double revolute joint mechanisms is briefed. The tendoning system of the double revolute joint mechanism and wireless feedback network provide the hand with the ability to confirm to object topology and therefore providing the advantage of using a simple control algorithm. Finally, the results of the experimental work for pick and place application are enumerated