Paper, Development of a robotic hand usingbioinspired optimization for mechanicaland control design: UnB-Hand

For the last four decades, the development of robotic hands has been the focus of severalworks. However, a small part of those approaches consider the exploitation of parallelism of FPGA-based (Field Programmable Gate Arrays) systems or discuss how using bioinspired optimization algorithmscould improve the mechanical and controller components. This work considers developing a bioinspiredrobotic hand that achieves motion and force control with a logic hardware architecture implementedin FPGA intended to be replicated and executed with suitable parallelism, fitting a single device. Thedeveloped robotic hand prototype has five fingers and seven DoF (Degrees of Freedom). Using bioinspiredoptimization, such as PSO (Particle Swarm Optimization), both the rigid finger mechanism and theimpedance controller were optimized and incorporated the results in several practical grasping experiments.The validation of this work is done with the Cutkosky grasping taxonomy and some grasping experimentswith interference. The tests proved the proficiency of this works for a wide range of power and someprecision grasp. The reader can see the experiments in the attached videos.

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