The controller architecture of dexterous hand with switchable coupling mechanism

This work investigates the design of the sensor system and control system for the coupled adaptive multi-fingered dexterous hand with actively switchable modalities. Considering the specific mechanical structure characteristics of the dexterous hand, a master-slave distributed control system design approach is adopted to integrate the sensor system and control system inside the finger, which completes the mechatronic integration of the whole hand. It can realize the modularity at the finger level and simplify the system complexity. This paper also introduces a fuzzy adaptive PID control method and develops the control strategy in active switchable mode. The experimental results show that the controller architecture can adapt to the changes in the institutional characteristics of the system when the finger switches between coupled and coupled adaptive states. It can complete the high-precision tracking of the target trajectory, achieve accurate position control, and have superior real-time performance.