Design and fuzzy control of hand prosthesis or anthropomorphic robotic hand CATRINA CHIVU 1 , CATALIN CHIVU 2 , CATALIN GEORGESCU 3 1, 2 Department of Economic Engineering and Manufacturing Systems “Transilvania” University of Brasov ROMANIA 3 Department of Mathematical Sciences The University of South Dakota UNITED STATES 1 catrina.chivu@gmail.com, 2 catalin.chivu@gmail.com, 3 Catalin.Georgescu@usd.edu Abstract: - Hand prosthesis and anthropomorphic robotic hand can be designed starting from the same mechanical structure, actuating system and control system. Thus, it is useful to have software that helps the engineers to design the optimum system. The present paper presents such software that includes one of the possible mechanical structures used both in hand prosthesis and anthropomorphic robotic hands, the actuating system and the control system. For control system was chosen the fuzzy control. Key-Words: - hand prosthesis, anthropomorphic robotic hand, fuzzy control, design and simulation. 1 Introduction Hand prosthesis and anthropomorphic robotic hands are designed using the same principles and input parameters. The differences between two systems are the values of the input data (dimensions, gripping force, precision, etc.). There are a lot of mechanical structures used to design both systems: linkages (as in Southampton hand – figure 1a), wires (prosthesis designed by Hokkaido University – figure 1b) or artificial muscles (Karlsruhe prosthesis – figure 1c). Fig. 1a. Southampton hand [9] Fig. 1b. Hokkaido University prosthesis [4] Fig. 1c. Karlsruhe prosthesis [10] All these prosthesis were designed individually. The authors of the present papers try to create general software that can be used to design the optimum hand prosthesis or anthropomorphic robotic hand. Optimum from both mechanical and control point of view. The present paper is focused on the design of the hand using anti-quadrilateral mechanism and fuzzy control. 2 Mechanical system As it was said there are many mechanical structures that can be used in both devices’ design. The main purpose of the software is to include, in the future, as many mechanisms as possible. The hand was designed as having 4 identical fingers and the thumb. Thus, the studies were done WSEAS TRANSACTIONS on SYSTEMS and CONTROL Catrina Chivu, Catalin Chivu and Catalin Georgescu ISSN: 1991-8763 333 Issue 5, Volume 3, May 2008