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    Fuzzy logic expert system for selecting robotic hands using kinematic parameters

    Autor: 
    Cobos-Guzmán, Salvador (1)
    ;
    Verdú, Elena (1)
    ;
    Herrera-Viedma, Enrique
    ;
    González-Crespo, Rubén (1)
    Fecha: 
    01/04/2020
    Palabra clave: 
    expert system; fuzzy logic; robotic hand; robotic hands selection; Scopus; JCR
    Tipo de Ítem: 
    Articulo Revista Indexada
    URI: 
    https://reunir.unir.net/handle/123456789/10683
    DOI: 
    https://doi.org/10.1007/s12652-019-01229-x
    Dirección web: 
    https://link.springer.com/article/10.1007/s12652-019-01229-x#citeas
    Resumen:
    Industry 4.0 is the current industrial revolution and robotics is an important factor for carrying out high dexterity manipulations. However, mechatronic systems are far from human capabilities and sophisticated robotic hands are highly priced. This paper describes a Fuzzy Logic Expert System (FLES) to map kinematic parameters from robotic hand features to the level of dexterity. The final goal is to obtain the adequate robotic hand that can do ranges of specific tasks according to the level of dexterity required. The FLES uses important kinematic parameters of the human hand/robotic hand: number of fingers, number of Degrees of Freedom (DoF), and number of contacts that grasping involves. As a result, several robotic hands are evaluated using the FLES to determine the type of dexterity task that corresponds to each robotic hand.
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