Title :
Design and control of a robotic finger for prosthetic hands
Author :
Baek, Sang-Eun ; Lee, Seung-Hi ; Chang, Joseph Heungsung
Author_Institution :
Samsung Adv. Inst. of Technol., Suwon, South Korea
Abstract :
Considers design and control of a robotic finger for prosthetic hands. A linkage driven robotic finger actuated by single motor is developed such that the motion of the robotic finger is very close to the motion of a human finger. The signal measured from strain gauges attached to the tendon of the hand is used as a position command to control the motion of the robotic finger. The results of simulation and experiment are presented to show that the proposed robotic finger is fit for a prosthetic hand
Keywords :
dexterous manipulators; manipulator kinematics; motion control; prosthetics; two-term control; linkage driven robotic finger; position command; prosthetic hands; robotic finger; tendon; Couplings; Fingers; Humans; Motion control; Motion measurement; Position measurement; Prosthetic hand; Robot control; Strain measurement; Tendons;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.812990
