Virtual prototyping and control of a dexterous hand

This paper presents a multi-fingered hand and a control system intended for research in dexterous manipulation. The hand is based on an anthropomorphic configuration with five identical fingers. The dynamics of the hand-object system is established. A control scheme to ensure firm grip, avoid slippage and well track a given motion imposed to the object is designed. To verify the reasonableness of the design and the control scheme, we simulate the object manipulation of the dexterous hand using Adams. A comparison is made between the calculated results carried out by Matlab and the operation results of the virtual simulation model established by Adams. The simulation results validate that the basic functionality and requirements of the hand system are achieved.