Torque control of underactuated tendon-driven robotic fingers

1. An underactuated tendon-driven finger for use within a robotic system having a total number of degrees of freedom (DOF) equal to at least n, and having a controller adapted for controlling an actuation of the tendon-driven finger via at least one actuator, the tendon-driven finger comprising:

n or fewer tendons and n DOF;

a plurality of tension sensors in communication with the n or fewer tendons; and

at least two joints;

wherein the controller uses tension values of only the n or fewer tendons from the plurality of tension sensors to control the at least one actuator, and to convert commanded joint torques into appropriate calculated tendon tensions, thereby eliminating an unconstrained slack space that would otherwise exist in controlling only a position of the tendons.

2. The finger of claim 1 , wherein the finger is characterized by an asymmetrical configuration in which at least one joint radius is different from the others, and wherein the controller utilizes the asymmetrical configuration in the force control of the tendons.

3. The finger of claim 2 , wherein:

the controller parameterizes a space of joint torques wherein the at least two joints are both in either flexion or extension, as allowed by the asymmetric configuration; and

independent torque commands are provided by the controller to the at least two joints within the space as allowed by the asymmetric configuration.