A force control architecture for grasping with a robotic finger

This paper addresses the design of control architecture for a robotic finger, achieved by a proper and specific kinematic and dynamic modeling. The proposed model permits force feedback prediction, based on the input motor torque, preventing the usage of force sensors for achieving a proper grasping force control. Hardware and software of the proposed control are developed and implemented in a prototype. The force prediction accuracy is tested experimentally while grasping an object. Preliminary tests show that the robotic finger can accomplish the needed grasping with proper force feedback control.