Abstract
Artificial robotic hands are designed having dexterity and functionality as close as the natural human hand produce. This paper proposes a bio-mechatronic approach for the design and control of an anthropomorphic artificial hand capable of performing basic human hand motions with fundamental gripping functionality. The mathematical model is derived using forward kinematics and also simulated on MATLAB® to ascertain the position of robotic fingers in 3D space. The dexterity of the artificial hand is exhibited by imitating the natural motion of the human fingers. Imitation is achieved by two different methods; a camera based marker recognition system to identify the human hand gestures and acquired flexion data from sensors attached to the human fingers. In order to have proper gripping, closed-loop control is implemented using the tactile sensors. Feedback for the closed-loop control is provided by force sensing resistors (FSRs), attached on the fingertips of the robotic hand. These sensors also enable handling of fragile objects.
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