Control Of Multifingered Hand Research Articles

Real time Electronic Control of Multi Fingered Hand Based on Sensors

In India the general population's majority lost their hand because of street mishap, sickness and troopers lost their arm in war. This paper portrays the outline which controls the hand movement and wrist movement of My electric controlled prosthetic arm utilizing cortex M3 microcontroller. In this outline electromyogram signs are created by getting the muscles of biceps and detected by terminal sensors. Anode sensors deliver the electrical signs and these signs are handled by small scale controller and accomplish the supination movement from 0 to 75 and pronation movement from 0 to 85 in the wrist of hand.. In this study, a human five-fingered mechanical hand, activated by six engines, was utilized as a prosthetic hand emulator to evaluate the possibility of a control methodology in light of Principal Components Analysis (PCA), particularly considered to address this issue. Since it was exhibited somewhere else that the initial two foremost parts (PCs) can portray the entire hand setup space adequately well, the controller here utilized returned the PCA calculation and permitted to drive a multi-DoF hand by consolidating a two differential channels EMG information with these two PCs. Consequently, the oddity of this methodology remained in the PCA application for taking care of the testing issue of best mapping the EMG inputs into the degrees of opportunity (DoFs) of the prosthesis

Autonomous control of multi-fingered hand*

Abstract This paper describes a novel autonomous control strategy of multi-fingered hand based on a modular control system of dexterous manipulation. A simple proportional-integral-derivative(PID) position control with friction compensation, which requires few friction parameters, is used to realize accurate and smooth trajectory tracking in pregrasp phase. In grasp and manipulation phases, an event-driven switcher is adopted to determine the switching between unconstrained position control and constrained torque control, and an improved explicit integral force control strategy is implemented to realize simultaneously stable contact transition and accurate force tracking. Experimental results have verified the effectiveness of the proposed autonomous control strategy of multi-fingered hand. * Supported by National Natural Science Foundation of China (Grant No. 60275032)

Experimental study of coordinated control of multifingered hands with the kinetostatic filtering method

For the coordinated control of multifingered robot hands it is important to simultaneously control both the position of a target object and the force exerted on it. In particular, the 'internal force' which does not affect the motion of the object should be controlled in order not to break it. This paper proposes an extension of the 'kinetostatic filtering method' by using a pseudo-inverse of the Jacobian. In addition, a new control signal is introduced for posture control of the fingertips. Experiments with a two-fingered hand are conducted to verify the capacity of the proposed controller and to show the transient response of it.

Topological reasoning about dextrous grasps

The need, in robot manipulation, for higher levels of dexterity and versatility than those provided by grippers and by special-purpose end-effectors has prompted much research effort during the last decade on the design and control of multifingered hands. Most work on multifingered robot hands has dealt with low-level, numeric control, commonly based on screw theory and tools drawn from line geometry, differential geometry, kinematics, and dynamics. Current numeric, contact-based schemes, however, are limited to tip prehension (intentional grasping by the fingertips). The intriguing ease with which humans perform grasping and manipulation activities has concurrently triggered new investigations to provide robots with humanlike, prehensile capability for complex tasks in unstructured environments. These investigations have resulted in numerous AI-oriented, task-directed, distributed, symbolic schemes that have been conducted essentially independently. Efforts to link symbolic and numeric schemes have been undertaken, but the results have been rather modest. This paper deals with an intelligent, integrated symbolic-numeric scheme for dextrous manipulation, using a topological approach. In this paper, we introduce a reasoning scheme called topological reasoning that is used in conjunction with a grasp-based, topological model for uniform representations of multifingered robot hands at different levels of detail (e.g., whole hand, finger, joint), and discuss its application to dextrous manipulation (grasp selection and regrasping). We show that using topological reasoning, both hand posture and hand functionality can be derived from symbolic, high-level task requirements and object attributes, and can be transformed into numeric, low-level, joint space variables. Furthermore, the reasoning scheme is applicable not only to tip prehension, but also to palm prehension and any combination of the two.

Kinematics and control of multifingered hands with rolling contact

The kinematics of rolling contact are derived for two surfaces of arbitrary shape rolling on each other. The kinematic equations are applied to a multifingered hand manipulating some object of arbitrary shape in three dimensions, and a scheme is presented for the control of such a hand which is a generalization of the computed torque method of control of robot manipulators. In implementing the control, it is required that all applied forces lie within the friction cone of the object so that sliding does not occur. The theory has been validated by dynamic graphical simulations of the resulting closed-loop system for several examples.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>