Design and low level control of the USTB multifingered robot hand

Stable grasping and fine manipulation with the multifingered robot hands are playing an increasingly important role in manufacturing and other application that require precision and dexterity. This paper describes a new two-thumbs USTB multifingered robot hand. The authors have developed a multifingered robot hand well suited to flexible grasping, dextrous manipulation, and capable of autonomous objects shape adaptation. This paper deals with mechanical configuration, multi-level control system architecture and low level control strategy of the USTB hand. A description of the software function that implements position control is also given. Finally, future work and directions of control aspects for the USTB hand are presented.<>