Design of a Hierarchical Control Architecture for Fully-Driven Multi-Fingered Dexterous Hand

Design of a Hierarchical Control Architecture for Fully-Driven Multi-Fingered Dexterous Hand

Multi-fingered dexterous hands provide superior dexterity in complex manipulation tasks due to their high degrees of freedom (DOFs) and biomimetic structures. Inspired by the anatomical structure of human tendons and muscles, numerous robotic hands powered by pneumatic artificial muscles (PAMs) have...

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Bibliographic Details
Main Authors: Yinan Jin, Hujiang Wang, Han Ge, Guanjun Bao
Format: Article
Language:English
Published: MDPI AG 2025-06-01
Series:Biomimetics
Subjects:
pneumatic artificial muscles
multi-fingered dexterous hand
fuzzy PID
Online Access:https://www.mdpi.com/2313-7673/10/7/422
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