Design and control of a robotic finger for prosthetic hands

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.