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Towards Multi-Finger Dexterous Hand Mechanics Control and Tactile Feedback

Towards Multi-Finger Dexterous Hand Mechanics Control and Tactile Feedback

Ying Liu, Du Jiang, Yibo Liu, Juntong Yun, Dongxu Bai, Gongfa Li, Dalin Zhou
Copyright: © 2021 |Volume: 15 |Issue: 4 |Pages: 11
ISSN: 1557-3958|EISSN: 1557-3966|EISBN13: 9781799859857|DOI: 10.4018/IJCINI.286770
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MLA

Liu, Ying, et al. "Towards Multi-Finger Dexterous Hand Mechanics Control and Tactile Feedback." IJCINI vol.15, no.4 2021: pp.1-11. http://doi.org/10.4018/IJCINI.286770

APA

Liu, Y., Jiang, D., Liu, Y., Yun, J., Bai, D., Li, G., & Zhou, D. (2021). Towards Multi-Finger Dexterous Hand Mechanics Control and Tactile Feedback. International Journal of Cognitive Informatics and Natural Intelligence (IJCINI), 15(4), 1-11. http://doi.org/10.4018/IJCINI.286770

Chicago

Liu, Ying, et al. "Towards Multi-Finger Dexterous Hand Mechanics Control and Tactile Feedback," International Journal of Cognitive Informatics and Natural Intelligence (IJCINI) 15, no.4: 1-11. http://doi.org/10.4018/IJCINI.286770

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Abstract

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.