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To fulfil the principle of low-cost and easy operation features, a new control scheme is proposed for the LARM Hand in this paper. The new controller is composed of a high level PC-based control panel and a low level DSP control card and the two parts communicate with each other through RS-232. The PC-based control panel is software with which an operator can input control parameters, and additionally...
A frame of modular design problems and requirements for underactuated mechanisms is discussed as related to robotic fingers. The proposed modular mechanism is connected sequentially by series units of underactuated mechanisms, which have the feature of passive self-adaptive in grasp operation and uniformizable in design procedure. The design considerations for modular underactuated mechanism are outlined...
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