Gripper robótico antropomórfico a los dedos primero y segundo, sensible a la presión

This paper presented the designing and building of a robotic gripper with five degrees of freedom capable to perform cylindrical grasp and grasp by terminal opposition of the human hand. The gripper has a pressure sensorial system, where each link has a sensor to determine if exist contact with the object in the work space of the prototype. The final position information of the motors is using in the control algorithm of pattern recognition and this provides the information the grasp type that the robot is doing and the pressure that the robot must do to grasp and hold the objects. Finally the linear movement mechanism is activated to up.