A multi-sensor system applied to control an intelligent robotic hand for underwater environment

Abstract

We present a multi-sensors system adopted in an intelligent robotic hand that works in underwater environment. Four kinds of different sensors, force sensor, image sensor, ultrasonic sensor and hall sensor, are adopted in this system. Among them, information gained by force sensors formed a closed loop together with the control variables in the system, thus, the accuracy and stability of the whole system is improved remarkably. An upper computer is applied to merge the information gathered by these sensors and send commands to actuators. In order that the system can act as required stably, we applied some protecting methods in the software. With the help of this system, we can control the intelligent robotic hand in real time all by human or let it work automatically.