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Towards Multi-Finger Dexterous Hand Mechanics Control and Tactile Feedback

Author

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  • Ying Liu

    (Wuhan University of Science and Technology, China)

  • Du Jiang

    (Wuhan University of Science and Technology, China)

  • Yibo Liu

    (Wuhan University of Science and Technology, China)

  • Juntong Yun

    (Wuhan University of Science and Technology, China)

  • Dongxu Bai

    (Wuhan University of Science and Technology, China)

  • Gongfa Li

    (Wuhan University of Science and Technology, China)

  • Dalin Zhou

    (University of Portsmouth, UK)

Abstract

：The ever-changing demands of industrial automation and space technology have promoted the rapid development of robotics. Traditional robotic end effectors are difficult to perform smart operations, so there is an urgent need for a robotic hand to perform complex operations instead of humans. In this article, we will focus our attention on mechanical control and haptic feedback. Mechanical control and haptic feedback are necessary conditions for the stable and accurate grasping of multi-finger dexterous hands. Tactile perception can provide stiffness and temperature to multi-finger dexterous hands. Important information makes the function of the dexterous hand more perfect. This article introduces the kinematics and dynamics of dexterous hand fingers, as well as the kinematics and dynamics solving equations, then reviews the current sensors and various control driving methods used in dexterous hands, discusses drive control, and compares each method Pros and cons. Finally, the future development of dexterous hands is predicted.

Suggested Citation

  • Ying Liu & Du Jiang & Yibo Liu & Juntong Yun & Dongxu Bai & Gongfa Li & Dalin Zhou, 2021. "Towards Multi-Finger Dexterous Hand Mechanics Control and Tactile Feedback," International Journal of Cognitive Informatics and Natural Intelligence (IJCINI), IGI Global, vol. 15(4), pages 1-11, October.
    • Handle: RePEc:igg:jcini0:v:15:y:2021:i:4:p:1-11
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