Force control of a flexible finger with distributed sensors and piezoelectric actuators

M. Tanaka, S. Chonan, Z. W. Jiang

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


This paper is concerned with the theoretical and experimental study of the force control of a miniatrure robotic finger that grasps an object at portions other than the fingertips. The artificial finger is a uniform flexible cantilever equipped with a distributed set of compact grasping force sensors. Control action is applied by a piezoceramic bimorph strip place at the base of the finger. The mathematical model of the assembled electro-mechanical system is developed. The distributed season are described by a set of concentrated mass-spring systems. The formulated equations of motion are applied to the study of control problem where the finger is commanded to grasp its object with a time-constant force 003 N regardless of the contact position of the finger with the object. Both the PID and H regulators are tested and their control behaviours are compared with each other.

Original languageEnglish
Pages (from-to)301-306
Number of pages6
JournalJournal of Intelligent Material Systems and Structures
Issue number3
Publication statusPublished - 1996 May
Externally publishedYes

ASJC Scopus subject areas

  • Materials Science(all)
  • Mechanical Engineering


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