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Control Architecture for a Novel Dexterous Hand

The paper presents a control architecture for grasping task of a novel dexterous hand whose 9 DOFs are actuated by a single-motor-driven actuator through 18 clutches. The architecture highlights the use of microprocessors for real-time control of the multifingered hand. The controller and sensors used in the control system of the hand are also described, which are especially effective to suitability for autonomous and non-numerical or reflex control of grasp.