Abstract
To realize the adaptive grasping of different objects and capture the joint angles of the finger, this paper presents a multi degree of freedom (DOF) adaptive finger. There are three joints in the designed finger. The maximum rotation angle of the finger joints are 90°. And the bending angles of the finger joints can be captured. First, the mechanism design and analysis of the measurement theory are described in detail. Then, we introduce the measurement circuit and analyze the measurement error. Joint angle testing and object grasping experiments are conducted to verify the validity of the designed finger. The experimental result shows that the root-mean-square (RMS) of the finger joint angle measurement error is 0.79°. The designed finger can realize the adaptive grasping of the objects with different shape.
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Acknowledgement
This paper is supported by the National Science Foundation of China under Grant No. 61803201, 91648206. Jiangsu Natural Science Foundation under Grant No. BK20170803. Young Teacher Startup Foundation of Nanjing University of Aeronautics and Astronautics under Grant No. 56YAH17027. The Fundamental Research Funds for the Central Universities, No. NS2018023.
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Wu, C. et al. (2019). Designer of a Multi-DOF Adaptive Finger for Prosthetic Hand. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_55
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DOI: https://doi.org/10.1007/978-3-030-27532-7_55
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