FPGA-based technology for modular control of anthropomorphic robotic hands

This paper deals with the design of embedded FPGA-based control systems for tendon actuated multifingered humanlike robotic hands. A specific example of tendon actuated mechanical design (DIST-Hand) is first considered, as a reference system, without loss of generality; then a general modular approach to the relevant motion control problem features is provided. Finally the most significant implementation issues related to the candidate distributed control architecture are presented.