Abstract
This paper proposes a trajectory control strategy for a tendon-driven robotic finger based on the musculoskeletal system of the human finger. First, we analyzed the relationship between the stereotypical trajectory of the human finger and joint torques generated by the muscles, and hypothesized that the motion of the human finger can be divided into two categories: one following a predetermined trajectory and the other changing the trajectory, which is mainly caused by the action of intrinsic muscles. We applied this control method to an anthropomorphic tendon-driven robotic finger and observed the change in motion caused by adjustments in the actuator’s pattern, which corresponds to human intrinsic muscles.
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Shirafuji, S., Ikemoto, S., Hosoda, K. (2014). Trajectory Control Strategy for Anthropomorphic Robotic Finger. In: Duff, A., Lepora, N.F., Mura, A., Prescott, T.J., Verschure, P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2014. Lecture Notes in Computer Science(), vol 8608. Springer, Cham. https://doi.org/10.1007/978-3-319-09435-9_25
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DOI: https://doi.org/10.1007/978-3-319-09435-9_25
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-09434-2
Online ISBN: 978-3-319-09435-9
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