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
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;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
DOI :
10.1109/ICARCV.2010.5707850
