Design and Control of a Tendon-Driven Robotic Finger Based on Grasping Task Analysis

To analyze the structural characteristics of a human hand, data collection gloves were worn for typical grasping tasks. The hand manipulation characteristics, finger end pressure, and finger joint bending angle were obtained via an experiment based on the Feix grasping spectrum. Twelve types of tendon rope transmission paths were designed under the N + 1 type tendon drive mode, and the motion performance of these 12 types of paths applied to tendon-driven fingers was evaluated based on the evaluation metric. The experiment shows that the designed tendon path (d) has a good control effect on the fluctuations of tendon tension (within 0.25 N), the tendon path (e) has the best control effect on the joint angle of the tendon-driven finger, and the tendon path (l) has the best effect on reducing the friction between the tendon and the pulley. The obtained tendon-driven finger motion performance model based on 12 types of tendon paths is a good reference value for subsequent tendon-driven finger structure design and control strategies.