Control of a gripper finger actuated by a pneumatic muscle: new schemes based on a model-free approach

In this paper, model-free based control strategies are applied to a finger of gripper activated by Mckibben pneumatic muscles. order emulate the grasping phase an object using simple finger, ”hybrid” type strategy is proposed manage effort phase, and release phase. The divided into approach with speed control, then contact for which maintain controlled pressure on object, finally, withdrawal in position. An experimental setup introduced experiment single phalanx finger.