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Force/position control with bounded actions on a dexterous robotic hand with two-degree-of-freedom fingers

Rojas-García Lina N., Chávez-Olivares César A., Bonilla-Gutiérrez Isela, Mendoza-Gutiérrez Marco O., Ramírez-Cardona Fernando

Biocybernetics and Biomedical Engineering

2022

Vol. 42, no. 1

233--246

This paper addresses the problem of controlling a robotic hand in tasks that require precise regulation of the applied force, as well as efficient use of actuators, ensuring that these operate safely within their torque limits. The proposed control structure is composed of generalized saturation functions, which have been widely used for the control of robotic systems that move freely without interacting with the environment; however, in this work they are used to regulate the forces generated by the interaction of a robotic hand and the objects that it can manipulate. The force/position control scheme is also used to validate the design of a robotic hand, whose dynamic modeling was obtained with computer-aided design (SolidWorks) and numerical simulation (Simscape MultibodyTM) tools. The results obtained validate both the effectiveness of the proposed control scheme and the usefulness of the computational tools used to characterize the dynamics of the robotic fingers.

A Low-Cost EMG-Controlled Anthropomorphic Robotic Hand for Power and Precision Grasp

Sánchez-Velasco Leobardo E., Arias-Montiel Manuel, Guzmán-Ramírez Enrique, Lugo-González Esther

Biocybernetics and Biomedical Engineering

2020

Vol. 40, no. 1

221--237

In this paper the use of a commercial EMG armband for the motion control of a prototype hand prosthesis is proposed. The mechanical design is based on an open source six degree-of-freedom hand. Some modifications from the original design are proposed, mainly in the actuation and power transmission devices to reduce the prototype's costs and to provide a major mobility to the thumb to adapt the motion to the shape of the grasped object. Unlike some similar prototypes previously reported and considering that the proposed application requires portability, the use of a PC for the acquisition and processing of the EMG data has been replaced by a portable hardware system based on the master/slave architecture. The master device is a Raspberry Pi-based subsystem interfaced with the EMG armlet for gathering and classifying information from the user's muscular activity. The slave device is an ATmega328 microcontroller-based subsystem that defines the movements of the robotic hand from the information collected and processed by the master device. Experimental results are presented to evaluate the performance of the EMG-controlled hand prosthesis carrying out different types of grasping tasks.