Design and development of a five-fingered master-slave robotic hand by using solenoid and pressure sensors comparator technology solenoid actuation system

Abstract

Robotics technology, especially in the robotic hand development, is very important to perform various tasks that are considered too risky or fatal to be performed by a human being. This technology is also important to assist human being physiological rehabilitation. There are numerous designs of robotic hand, but the five-fingered robotic hand design is the most dexterous robotic hand design due to its similar appearance with a human hand. In general, the fingers' motions are driven or actuated by geared motors or other types of emerging technologies and controlled by microcontrollers or computers that received instructions from sensors or user inputs. However, the motions are yet to be driven or actuated by solenoids and controlled by using pressure sensor comparator method due to the solenoid technology limited applications and the controller novelty approach. Nevertheless, solenoids are known for their fast reaction time and strong holding force that are useful to perform high speed motions and strong grasping actions. The controller novelty approach is also expected to provide good motions' accuracy and response. Therefore, the synergy of this idea can introduce a new master-slave robotic hand design called SPCT (Solenoid-Pressure-Comparator-Technology) Robotic Hand. For this particular paper, the focus will be on the slave component design and solenoid actuation system. It can be seen that the design has potential for further developments. © 2016 IEEE.