Implementation of position and force controllers for a micro-hand based on adaptive inverse control

This paper proposes an online adaptive inverse controller for a micro-hand with five fingers that are driven by micro-PMSMs. By using the adaptive inverse controller, the five fingers of the micro-hand are individually controlled. In addition, the force of each finger is measured online and controlled to avoid damaging the grasped object as well. The micro-hand can precisely hold an egg, a ball, a container of shaving cream, or a marking pen. Experimental results validate the theoretical analysis.