This paper presents a quasi-static model-based control algorithm for controlling the motion of soft robotic exo-digit with three independent actuation joints physically interacting human finger. A analytical model physical interaction between and finger was developed. Then, presented as nonlinear discrete-time multiple-input multiple-output (MIMO) state-space representation system design. Input...

Smart materials have been widely used for control actuation. A robotic hand can be equipped with artificial tendons and sensors for the operation of its various joints, mimicking human hand motions. The motors in the robotic hand could be replaced with novel electroactive polymer (EAP) actuators. In the three-finger gripper proposed in this paper, each finger can be actuated individually so tha...

Finger rehabilitation robots are developed to assist therapists in performing processes on patients. The repetitive flexion and extension have shown positive outcome improving functionality of fingers among post-stroke However, these made rigid structures actuators such as pulleys motors which pose danger the delicate human fingers. This paper proposes a bidirectional bending fibre-reinforced s...

<p><span lang="EN-US">This paper presents the research, design, and manufacture of a robotic hand to control movement with glove. The moving glove-controlled is based on two main parts: mechanism circuit. glove unit includes an Arduino nRF24l01 microcontroller module five flex sensors for fingers. These are used collect data about curvature each finger. Then those will be received b...

Complex anthropomorphic robotic hands with small link lengths and large number of degrees of freedom pose a unique challenge for calibration. The problem is interesting because the small magnitude of joint motion produced by small robots are difficult to capture by external sensors such as motion tracking systems. There is a need for a simple yet effective solution to this problem. In this pape...

This paper studies the force capability of a particular class of underactuated fingers. Force capability is defined as the ability to create an external wrench onto a fixed object. The concept of underactuation in robotic fingers, with fewer actuators than degrees of freedom (DOF) through the use of springs and mechanical limits, allows the hand to adjust itself to an irregularly shaped object ...

We have developed a finger-shaped sensor array (BioTac ) that provides simultaneous information about contact forces, microvibrations and thermal fluxes, mimicking the full cutaneous sensory capabilities of the human finger. For many tasks, such as identifying objects or maintaining stable grasp, these sensory modalities are synergistic. For example, information about the material composition o...