Design and Implementation of a Low Cost Multi-Fingered Robotic Hand Using a Method of Blocks

The control of a mechanical robotic hand is plagued by an inability to derive accurate dynamic models of such a mechanism. The aspects of static and kinetic friction are major obstacles in the control of a mechanical hand. This paper presents a fuzzy-like based controller and its implementation for a low cost robotic hand. The controller has the ability to automatically regenerate the member set during the translation of any arbitrary joint in a robotic hand. A series of simulations has been conducted that illustrate the effectiveness of this controller for providing smooth translation independent of frictional forces.