Modularized embedded finger control system for 5-finger dexterous robot hand

To develop highly integrated 5-finger dexterous robot hand, a design scheme of modularized and embedded finger control system is proposed that uses Digital Signal Processor(DSP) and Field Programmable Gate Array(FPGA) control structure. A single current sensor is used to detect phase current on full-bridge modulation and detect over current protection of phase current. To obtain stable and efficient communication between finger DSP and FPGA, using First in First out(FIFO) registers a multi-interrupt differential communication system is designed, which is based on Serial Communications Interface(SCI) and RS485 bus. Experiment results show that the finger controller can be highly integrated by the DSP+FPGA control structure and modularized design, and the whole working performance of the DLR/HIT II dexterous hand is excellent and reliable.