Supervisory Control Strategies in a Multi-Fingered Robotic Hand System

The purpose of this paper is to construct a supervisory control system for telemanipulation with a robotic hand and to introduce some basic strategies of the systems and a case study, in which a robotic hand in a remote side does preshaping, grasping and orienting. The developed master system is designed based on human pinching motion and can be manipulated intuitively. The feedback loop of the developed slave system is closed at the slave side and the slave robotic hand can manipulate an object reliably. Three experiments are executed to confirm that the slave hand pinches objects and controls their orientation angle easily even time delay exists