Implementation of a multi-fingered robotic hand using a method of fuzzy blocks

The control of a mechanical robotic hand is plagued by an inability to derive accurate dynamic models of such a mechanism. Static and kinetic friction are major obstacles in the control of a mechanical hand. The paper presents a fuzzy based controller which has the ability to automatically regenerate the member set during the translation of an arbitrary joint in a robotic hand. This control system has been implemented on an IBM compatible computer using a custom designed acquisition/conversion interface and a mechanical hand assembly. A series of experiments have been conducted which verify that the method of fuzzy blocks was successful for controlling joint position. The simulation results include bath fine movements, needed for dexterity, and gross movements which can be used for grasping. This system provides excellent results and it is extremely cost effective.