The current under-actuated hands with self-adaptation are complex, cumbersome and their grasping forces on objects cannot be adjusted. This paper proposed a novel idea of robotic finger, multisensory electronic self-adaptive (MESA) finger. The MESA finger can self-adaptively grasp objects by multisensory feedback control, instead of under-actuated mechanisms. The MESA finger can also be called electronic under-actuated (EUA) finger. A typical MESA finger with one joint was designed in detail, where there are three sensors and a control module. The finger makes use of signals from sensors about the relative location between the finger and the object to fulfill self-adaptive grasp automatically, and the grasping force can be adjusted easily. The MESA finger could be used to construct multi-fingered robotic hands with high degrees of freedom, high self-adaptation, and low control requirement.
MESA Finger: A Multisensory Electronic Self-Adaptive Unit for Humanoid Robotic Hands
Adv.Intel.,Soft Computing
2012-01-01
6 pages
Article/Chapter (Book)
Electronic Resource
English
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