Designer of a Multi-DOF Adaptive Finger for Prosthetic Hand

To realize the adaptive grasping of different objects and capture the joint angles of the finger, this paper presents a multi degree of freedom (DOF) adaptive finger. There are three joints in the designed finger. The maximum rotation angle of the finger joints are 90°. And the bending angles of the finger joints can be captured. First, the mechanism design and analysis of the measurement theory are described in detail. Then, we introduce the measurement circuit and analyze the measurement error. Joint angle testing and object grasping experiments are conducted to verify the validity of the designed finger. The experimental result shows that the root-mean-square (RMS) of the finger joint angle measurement error is 0.79°. The designed finger can realize the adaptive grasping of the objects with different shape.

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