Intelligent computational control of multi-fingered dexterous robotic hand

Disi Chen, Gongfa Li, Guozhang Jiang, Yinfeng Fang, Zhaojie Ju, Honghai Liu

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Abstract

We discuss the intelligent computational control theory and introduce the hardware structure of HIT/DLR II dexterous robotic hand, which is the typical dexterous robotic hand. We show that how DSP or FPGA controller can be used in the dexterous robotic hand. A popular intelligent dexterous robotic hand control system, which named Electromyography (EMG) control is investigated. We introduced some mathematical algorithms in EMG controlling, such as Gauss mixture model (GMM), artificial neural network (ANN) and Support vector machine (SVM).
Original languageEnglish
Pages (from-to)6126-6132
JournalJournal of Computational and Theoretical Nanoscience
Volume12
Issue number12
DOIs
Publication statusPublished - Dec 2015

Keywords

  • RCUK
  • EPSRC
  • EP/G041377/1
  • Dexterous Hand
  • Intelligent Control
  • EMG Control

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