Modeling of 3–DOF micro–hand for one or two inputs

In this paper, a model of input and output characteristics of the tip position of a 3-DOF micro-hand is proposed. The micro-hand is made up of three artificial muscles and the contraction force generated in each artificial muscle bends it. Therefore, the proposed model is considered a force dynamics relationship. First, this micro-hand will be described. Next, the derivation of the proposed model is explained. In addition, the simulation results from the proposed model are compared with the experimental results.