In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

in this research, first, kinematic and dynamic equations of a 4-dof 3-link robotic finger are derived using denavit-hartenberg convention and lagrange’s formulation. to model the muscles, several springs and dampers are placed between the finger links. then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

In this paper, we propose a novel electromyographic (EMG) control interface to control motion and joints compliance of a supernumerary robotic finger. The supernumerary robotic fingers are a recently introduced class of wearable robotics that provides users additional robotic limbs in order to compensate or augment the existing abilities of natural limbs without substituting them. Since supernu...

The structure of the human hand is a complex design comprising of various bones, joints, tendons, and muscles functioning together in order to produce the desired motion. It becomes a challenging task to develop a robotic hand replicating the capabilities of the human hand. In this paper, the analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return me...

Abstract– Different from the traditional rigid robots made by hard material such as metal, continuum robots are bionic mechanisms which feature high compliance and continuous shapechanging ability. A full compliant continuum robotic finger is proposed, which is driven by the compressed air inside its silicon rubber chamber and has a certain degree of grasping rigidity. By the moment equilibrium...

Introduction. The importance of compliance and friction properties of robotic finger pads in order to enhance grasp stability and robustness has been widely remarked in previous research [1, 2, 3]. In order to develop robotic fingers with soft pads some important indications can be obtained from the analysis of the human finger behavior [4]. Biologicallyinspired robotic fingers will be characte...

One of the most important case in humanoid robot designing is hand, which it consider as an country development. High percentage of robot work quality depend on hand capability. A robot function increase with hand movement. One of important movement in artificial hand capability relate to fingers lateral movement. This case has more effect intake of special objects such as round shape or moving...

In recent years, there has been great interest in the possibility of using artificial limbs as an extension of the human body as well as replacement of lost limbs. In this paper, we develop a sixth finger system as an extension of the human body. We then investigate how an extra robotic thumb, that works as a sixth finger and gives somatosensory feedback to the user, modifies the body schema, a...

This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which...

Abstract: This paper addresses a modified optimal control strategy for a 14-degrees-of-freedom, five-finger robotic hand to improve accuracy and reduce convergence time by modifying the performance index embedded with an exponential term. First, the trajectory planning of the joints of each finger is designed by using cubic polynomial. Then the kinematic and dynamic equations of the robotic han...