In this paper some recent results about the experimental trials we are performing on a functional prosthetic hand characterized by an EMG-control and by a simple and low cost fabrication technology are shown. A compliant under-actuated prosthetic hand has been designed and fabricated. The five-fingered hand (both palm and fingers) is moulded as a soft polymeric single part with compliant joints...

Presently artificial pneumatic muscles are used in various applications due to their simple construction, lightweight and high force to weight ratio. However, controls of various mechanical systems actuated by pneumatic muscles are facing various problems. The parameters of the muscles are nonlinear and time-varying due to temperature change and the deterioration of the pneumatic muscle materia...

This paper focuses on a mechanical regulator free and front‐ wheel drive bicycle robot. We present a scheme to achieve the robotʹs track‐stand motion and circular motion under zero forward speed. In a situation where the robotʹs front‐bar is locked at 90 degrees, a kinetic constraint about the rotating rate of the front‐wheel and the yawing rate of the frame is...

Abstract This paper analyzes operational space dynamics for redundant robots with un-actuated joints and reveals their highly nonlinear dynamic impacts on control (OSC) tasks. Unlike conventional OSC approaches that partly address the under-actuated system by introducing rigid grasping or contact constraints, we deal problem even without such physical constraints which have been overlooked, yet...

In this paper we present a novel controller for Shape Memory Alloy (SMA) actuated robotic systems. The new controller, called BAC (B-spline based Adaptive Control), is based on a hybrid combination of gain scheduling, Bspline approximation, variable structure control and integral control. The proposed controller shows excellent positioning accuracy and speed throughout the full range of motion ...