Artificial hand gripper controller via smart glove for rehabilitation process
Most parts in this research are dedicated to control of multi finger grippers with emphasis on the finger tips or finger joints. By controlling a multi finger gripper, vye enable the gripper to handle an object; in another words, controlling a multi finger gripper can be viewed in term...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/2429/ http://eprints.uthm.edu.my/2429/1/fkee.pdf |
| Summary: | Most parts in this research are dedicated to control of
multi finger grippers with emphasis on the finger tips or finger
joints. By controlling a multi finger gripper, vye enable the
gripper to handle an object; in another words, controlling a multi
finger gripper can be viewed in terms of controlling an object's
pose and the forces between the object and its environment.
Hence, an object pose controller with feedback from an object
pose sensor suits multi finger gripper control. Also due to the
non-linear dynamic system behavior in the joints of most multi
finger grippers, an effective, easily-adaptable joint controller is
employed. The paper discusses the object pose controller with
great detail in a new joint controller. Since the joint controller is
based on microcontroller thus, we do not use an exact analytical
model for this case. |
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