The purpose of this paper is to design and optimize an intelligent fuzzy-logic controller for a three-degree of freedom (3DOF) artificial finger with shape-memory alloy (SMA) wire actuators. The robotic finger is constructed using three SMA wires as tendons to bend each phalanx of the finger around its revolute joint and three torsion springs which return the phalanxes to their original positio...

An artificial elastic finger for grasping an object, which we call an “artificial finger skin” is designed. Characteristics of the artificial finger skin are as follows: First, it has ridges at the surface and tactile sensors distributed underneath the ridges same as finger of human. Second, it has a curved surface in broad perspective. Third, it is made of an elastic silicone rubber so as to t...

This document describes the hardware design of a tactile shear force display. The design parameters have been chosen by inquiries of psychophysical requirements and available actuator technologies. Furthermore the hardware setup of the prototype is described. This display will be used to investigate the perceptual effects of shear force to the human finger pulp.

This paper presents the mechanical design for a new five fingered, twenty degree-of-freedom dexterous hand patterned after human anatomy and actuated by Shape Memory Alloy artificial muscles. Two experimental prototypes of a finger, one fabricated by traditional means and another fabricated by rapid prototyping techniques, are described and used to evaluate the design. An important aspect of th...

In this paper one class of anthropomorphic modular reconfigurable grippers for robots are described , including a prototype. For the first time the stages of synthesis, analysis design and functional simulation are presented. We choice two versions: with three and four identical fingers with three phalanxes on finger. The kinematic synthesis is used to obtain a correct closing of the finger and...

The Bogus Finger is a remote-controllable tool for simulating vertical pressing forces of various magnitude as exerted by human finger. Its main application the characterization haptic devices under realistic active touch conditions. device released an open-source hardware and software DIY project that can be easily built using off-the-shelf components. We report quasi-static properties device,...

This paper shows mechanisms for artificial finger based on a planetary gear system (PGS). Using the PGS as a transmitter provides an under-actuated system for driving three joints of a finger with back-drivability that is crucial characteristics for fingers as an end-effector when it interacts with external environment. This paper also shows the artificial finger employed with the originally de...

Abstract This climate manipulation prototype is a tool that helps monitor vine condition and automatically carries out the treatment. The design of this can also make it easier to care for plants remotely. plant state be controlled with android application which display in real-time. type research & development uses waterfall model, has stages: analysis, design, coding, testing. Based on re...