DocumentCode
2438184
Title
Study on the structure and control of a dexterous hand
Author
Liu, Hao ; Wang, Tao ; Fan, Wei ; Zhao, Tong
Author_Institution
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
fYear
2010
fDate
7-10 Dec. 2010
Firstpage
1589
Lastpage
1593
Abstract
A new dexterous hand is designed and produced. The shape and structure of the dexterous hand is described, focused on analyzing the layout of tendons and the optimization of the joint radius. Furthermore, a single finger is controlled by Fuzz-PID with model compensation and the good control precision is achieved. Through the study on the single finger control, the master-slave control of the dextrous hand is realized simulating the movement of human hand with a cyber-glove.
Keywords
compensation; dexterous manipulators; fuzzy control; motion control; three-term control; cyber-glove; dexterous hand; fuzz-PID control; human hand movement; joint radius optimization; master-slave control; model compensation; precision control; single finger control; tendon layout; Fingers; Force; Grasping; Joints; Mathematical model; Muscles; Tendons; PMA; fuzzy PID; structure optimization;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-7814-9
Type
conf
DOI
10.1109/ICARCV.2010.5707850
Filename
5707850
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