Electronic coupled and self-adaptive grasp robotic finger

Current self-adaptive hands are always complex in mechanical structure and they have only fixed grasping mode and cannot be adjusted easily. To overcome these disadvantages, this paper proposed a novel scheme of making use of close loop in lower controller to fulfill coupled and self-adaptive grasp. A 2-DOF Electronic Coupled and Self-adaptive finger, E-COSA finger was designed in this paper. E-COSA finger has two joints driven by two motors separately, five sensors, one lower control module and E-COSA control algorithm. E-COSA control algorithm means that the control module receives signal from sensors to control two motors, thus make the finger grasp object with two stages: one is the coupling process, the next stage is self-adaptation when the proximal phalanx touching object. This grasp mode is better than traditional under-actuated grasping and the mechanism is simple, although the sensing and control system is added into finger but the control algorithm is fixed, do not need any complex computation, which make the finger could apply under unknown and complicated environment.