Bionic Reflex Control Strategy for Robotic Finger with Kinematic Constraints

TL;DR

This paper introduces a bionic reflex control method for a kinematically constrained robotic finger, enabling rapid force response and precise force tracking through impedance control, demonstrated via simulation.

Contribution

It proposes a novel force tracking impedance control strategy tailored for kinematic constraints in robotic fingers, with dynamic model reduction and reflex response analysis.

Findings

Reflex response time is approximately milliseconds.

The impedance control achieves accurate force tracking.

Simulation validates the effectiveness of the control strategy.

Abstract

This paper presents a bionic reflex control strategy for a kinematically constrained robotic finger. Here, the bionic reflex is achieved through a force tracking impedance control strategy. The dynamic model of the finger is reduced subject to kinematic constraints. Thereafter, an impedance control strategy that allows exact tracking of forces is discussed. Simulation results for a single finger holding a rectangular object against a flat surface are presented. Bionic reflex response time is of the order of milliseconds.