Abstract
A new type of air-driven multi-fingered dexterous hand, named ZJUT Hand, is proposed. ZJUT Hand has good passive flexibility and can make up for the deficiency of existing dexterous hands in some ways. A new method for grasping model identification based ANFIS is proposed. Simulation experimental results show that the method can easily establish the model of the target objects, and has very good recognition accuracy and convergence. Equivalent rules of target objects are presented and greatly improve the efficiency of identification. A general grasp planning program of multi-fingered dexterous hand is proposed. Finally, the grasp planning experiments for ZJUT Hand is completed. Experimental results show that ZJUT Hand is able to construct the models of two typical target objects.
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