Controller Design on the Fingerspelling Robot Hand using Shape Memory Alloy

Abstract

This paper introduces the mechanical structure and control technique of the robot fingers. The fingers has been developed as elements of the robot hand which has 20 joints and 16 degrees of freedom in order to express fingerspelling. The joints are driven by the small DC servomotors and the shape memory alloys (SMA). The hand system will consist of four… (More)

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