Modular control technology for antroponiorphic robotic hands

This paper deals with the design of embedded FPGA-based control systems for tendon actuated multifingered human-like 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