Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger

Wonseok Jeon, Kyungchan Son, Jaegak Lee, Hyemi Jeong, Hyunseok Yang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we describe the design and optimal control strategy of an under-actuated, anthropomorphic robotic finger. A compliance element (silicon rubber skin) and series elastic actuators are incorporated in the design to reduce the number of actuators, and for robotic finger control. Manufacturing of the robotic finger is further simplified by the basic joint design and a 3D printing technique. The proposed metacarpophalangeal (MCP) joint structure allows flexion-extension and adduction-abduction motions of the robotic finger to be controlled easily and independently. However, due to the under-actuated system, and joint stiffness caused by the compliance element, the design is limited by inverse kinematics issues, preventing some of the desired joint angles from being achieved. We analyzed this problem and proposed an optimal control strategy to address this issue. Our experimental results showed that good performance of the optimal control strategy of the under-actuated anthropomorphic robotic finger prototype.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages39-44
Number of pages6
ISBN (Electronic)9781728103761
DOIs
Publication statusPublished - 2018 Jul 2
Event2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia
Duration: 2018 Dec 122018 Dec 15

Publication series

Name2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
CountryMalaysia
CityKuala Lumpur
Period18/12/1218/12/15

Fingerprint

Robotics
Fingers
Compliance
Actuators
Joints
Metacarpophalangeal Joint
Inverse kinematics
Rubber
Silicon
Biomechanical Phenomena
Printing
Skin
Stiffness

All Science Journal Classification (ASJC) codes

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Jeon, W., Son, K., Lee, J., Jeong, H., & Yang, H. (2018). Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 39-44). [8664889] (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8664889
Jeon, Wonseok ; Son, Kyungchan ; Lee, Jaegak ; Jeong, Hyemi ; Yang, Hyunseok. / Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger. 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 39-44 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).
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Jeon, W, Son, K, Lee, J, Jeong, H & Yang, H 2018, Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger. in 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8664889, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., pp. 39-44, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, 18/12/12. https://doi.org/10.1109/ROBIO.2018.8664889

Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger. / Jeon, Wonseok; Son, Kyungchan; Lee, Jaegak; Jeong, Hyemi; Yang, Hyunseok.

2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 39-44 8664889 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Jeon W, Son K, Lee J, Jeong H, Yang H. Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 39-44. 8664889. (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). https://doi.org/10.1109/ROBIO.2018.8664889