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

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Synthesis
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Cited articles

Albu-Schäffer, A., Wolf, S., Eiberger, O., Haddadin, S., Petit, F., and Chalon, M.: Dynamic modelling and control of variable stiffness actuators, in: Proceedings 2010 IEEE International Conference on Robotics and Automation, 3–7 May 2010, Anchorage, AK, USA, 2155–2162,, 2010. 
Ask, T.: Engineering for Industrial Designers and Inventors: Fundamentals for Designers of Wonderful, O'Reilly Media, Sebastopol, CA, USA, 2016. 
Aukes, D., Heyneman, B., Duchaine, V., and Cutkosky, M. R.: Varying spring preloads to select grasp strategies in an adaptive hand, in: Proceedings 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 25–30 September 2011, San Francisco, CA, USA, 1373–1379,, 2011. 
Birglen, L. and Gosselin, C. M.: Fuzzy Enhanced Control of an Underactuated Finger Using Tactile and Position Sensors, in: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 18–22 April 2005, Barcelona, Spain, 2320–2325,, 2005. 
Birglen, L., Laliberté T., and Gosselin, M.: Underactuated Robotic Hands, Springer, Berlin, Heidelberg, Germany, 2008. 
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.