Prediction of contact forces of underactuated finger by adaptive neuro fuzzy approach

Abstract

To obtain adaptive finger passive underactuation can be used. Underactuation principle can be used to adapt shapes of the fingers for grasping objects. The fingers with underactuation do not require control algorithm. In this study a kinetostatic model of the underactuated finger mechanism was analyzed. The underactuation is achieved by adding the compliance in every finger joint. Since the contact forces of the finger depend on contact position of the finger and object, it is suitable to make a prediction model for the contact forces in function of contact positions of the finger and grasping objects. In this study prediction of the contact forces was established by a soft computing approach. Adaptive neuro-fuzzy inference system (ANFIS) was applied as the soft computing method to perform the prediction of the finger contact forces.