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. © 2014 Springer International Publishing.
CITATION STYLE
Shirafuji, S., Ikemoto, S., & Hosoda, K. (2014). Trajectory control strategy for anthropomorphic robotic finger. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8608 LNAI, pp. 284–295). Springer Verlag. https://doi.org/10.1007/978-3-319-09435-9_25
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