NOMENCLATUREߠ=angle of the joints about x-axis φ = angle of the joints about z-axis ܺ, ܻ= position of the finger's end-effector ܶ = transformation matrix ABT ܴ= rotation matrix of the finger ܶ= transmission matrix of the finger qሶ = velocity of the moving platform ߱ = angular velocity of the moving platform ‫ܛ‬ ܑ =unit vector pointing along A i B i ݀ = rod length of the linear actuator ߱ = angular velocity of i ୲୦ limb. ݅= index of the finger ݂ = normal force of the fingertip ‫=ܝ‬ unit vector of the normal force of the finger ۴ ‫ܑܠ‬ = value of the force equilibrium in the x-axis ۴ ‫ܑܡ‬ = value of the force equilibrium in the y-axis ۴ ‫ܑܢ‬ = value of the force equilibrium in the z-axis This paper describes a development of bio-mimetic robot hand and its control scheme. This robot hand has four independently moving fingers, which are driven by four-coupled link mechanism with two linear actuators. By using the linear actuators, we make the hand similar to human hand in its structure and motion. The coupled link mechanism makes the hand compact in structure and efficient in power. The robot hand is designed considering the dexterity and the compact size suited for various tools and objects in daily life. The hand has tactile sensors mounted on the palm and the fingertips at each finger. With tactile sensor based feedback control and force closure method, the paper shows the control of the robot hand which is very stable in grasping and handling various objects.

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In the area of biorobotics, intense research work is being done based on plant intelligence. Any living cell continuously receives information from the environment. In this paper, research is conducted on the plant named descoingsii x haworthioides (Pepe) obtaining the action potential signals and its responses to stimulations of different light modes. The plant electrical signal is the reaction of plant's stimulation owing to various environmental conditions. Action potentials are responsible for signaling between plant cells and communication from the plants can be achieved through modulation of various parameters of the electrical signal in the plant tissue. The modulated signals are used for providing information to the microcontroller's algorithm for working of the bio-machine. The changes of frequency of action potentials in plant are studied. Electromyography (EMG) electrodes and needletype conductive electrodes along with electronic modules are used to collect and transform the information from the plant. Inverse fast Fourier transform (IFFT) is used to convert signal in frequency domain into voltage signal for real-time analysis. The changes in frequency of the plant action potentials to different light modes are used for the control of the bio-machine. This work has paved the way for an extensive research towards plant intelligence.