Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 9, issue 2
Articles | Volume 9, issue 2
https://doi.org/10.5194/ms-9-277-2018
© Author(s) 2018. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-9-277-2018
© Author(s) 2018. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 9, issue 2
Research article
 | 
28 Aug 2018
Research article |  | 28 Aug 2018

Mechatronic design and genetic-algorithm-based MIMO fuzzy control of adjustable-stiffness tendon-driven robot finger

Izzat Al-Darraji, Ali Kılıç, and Sadettin Kapucu

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Latest update: 06 Nov 2026
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Short summary
The aim of this study is to integrate suggested control algorithms with a mechatronic design of underactuated adjustable stiffness finger for improving grasping operation. The designed robot finger system has the following main features: (1) preventing damage of objects during contact with phalanges, (2) having firm grasping, (3) adjusting grasped-forces on phalanges by stiffness of joints, and (4) implementing job independently without external control unit.
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