A Tendon-Driven Robotic Dexterous Hand Design for Grasping.

This paper focuses on the research of humanoid dexterous hand with tendon-driven. The structure of the dexterous hand is designed and its kinematics, dynamics and the relationship between the finger joints and the fingertip force are deduced. Then, based on the characteristics of the dexterous hand, a hierarchical control system is proposed and fuzzy adaptive PID is used as the motor control algorithm. The grasping experiments are implemented and the results indicate the hand has well performance.