Fuzzy Enhanced Control of an Underactuated Finger Using Tactile and Position Sensors

This paper proposes a control scheme dedicated to underactuated fingers with the intention of maximizing the capabilities of the latter using tactile and position information at a minimum cost. Tactile sensors are implemented on one prototype of underactuated finger and used to enhance the behaviour of the hand despite its limited number of control signals. First, tactile technology is briefly recalled and discussed. Second, the electronic design of the sensors´ controller is presented. Third, a real-time control scheme is introduced, based on a fuzzy force control method. Finally, a slippage prevention technique is presented. Results are discussed based on experimental observations and indicate that the behaviour of underactuated fingers can be substantially enhanced with tactile information and a classic fuzzy control approach.