Development of bio-mimetic robot hand using parallel mechanisms

The superposition principle applied to grasping an object producing moments outside anatomically-defined axes

“…Despite this, the central nervous system (CNS) tends to select certain families of solutions, or synergies, when grasping objects (Santello and Soechting, 2000;Rearick and Santello, 2002;Shim et al, 2003Shim et al, , 2005aJohnston et al, 2005Johnston et al, , 2010Shim and Park, 2007). A better understanding of such control mechanisms can lead to improved rehabilitation of neuromuscular dysfunction (Nowak, 2008;Alberts and Wolf, 2009;Schieber et al, 2009), and the development of more dextrous robotic limbs (Bae et al, 2005;Choi et al, 2008;Lee et al, 2009;Yang et al, 2009). …”

Design and Control of an EMG Driven IPMC Based Artificial Muscle Finger

“…By designing the feedback control protocol of FESCS, the physiological signal is recorded with help of FPGA biomedical module, DAC and electrical stimulation circuit. Lee et al (2009) have described a development procedure of bio-mimetic robot hand and its control scheme where each robot hand has four under-actuated fingers, which are driven by two linear actuators coupled together. Dalley et al (2009) have given emphasis of an anthropomorphic hand prosthesis that is intended for use with a multiple-channel myoelectric interface.…”

Development of a Robotic Hand Using Bioinspired Optimization for Mechanical and Control Design: UnB-Hand

“…Wang et al [5] Impedance control with internal PID position control LMS Hand [6], [7] Force control with Neural Networks and PID position control Wire-driven 16 DC motors 16 encoders (for motors), 16 absolute encoders (for joints) PC 50 16 Lee et al [8] Hybrid PD position/force Four-bar linkage 9 DC motors 9 incremental encoders, 4 resistive force sensors PC -9…”

“…In this way, FPGA-based platforms allow the designer to implement efficient digital architectures capable of reading signals in parallel from multiple sensors and generating many output signals through parallel processing. They have been used to implement algorithms for parallel motion control of fingers for piano playing [8]. Another example [18] asserts the importance of the usage of parallelism for tactile sensing in robotic hand applications.…”