1. Date of download: 1/23/2018
Copyright © ASME. All rights reserved.
From: Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires
J. Dyn. Sys., Meas., Control. 2017;140(6): doi: /
Figure Legend:
Dorsal view of the human hand: (a) proximal, (b) middle, and (c) distal phalanx; (1) MCP, (2) PIP, and (3) DIP joint

2. Date of download: 1/23/2018
Copyright © ASME. All rights reserved.
From: Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires
J. Dyn. Sys., Meas., Control. 2017;140(6): doi: /
Figure Legend:
The fuzzy membership functions adopted for each variable set

3. Date of download: 1/23/2018
Copyright © ASME. All rights reserved.
From: Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires
J. Dyn. Sys., Meas., Control. 2017;140(6): doi: /
Figure Legend:
Computer vision system for position control of the SMA robotic finger. Reference coordinates (a) and camera-finger configuration for data acquisition (b).

4. Date of download: 1/23/2018
Copyright © ASME. All rights reserved.
From: Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires
J. Dyn. Sys., Meas., Control. 2017;140(6): doi: /
Figure Legend:
Schematic representation of data acquisition by the camera

5. Date of download: 1/23/2018
Copyright © ASME. All rights reserved.
From: Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires
J. Dyn. Sys., Meas., Control. 2017;140(6): doi: /
Figure Legend:
Control of the PP in closed-loop. Top: desired angle versus measured angle. Bottom: percentage error of the fuzzy control.

6. Date of download: 1/23/2018
Copyright © ASME. All rights reserved.
From: Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires
J. Dyn. Sys., Meas., Control. 2017;140(6): doi: /
Figure Legend:
Control of the MP in closed-loop. Top: desired angle versus measured angle. Bottom: percentage error of the fuzzy control.

7. Date of download: 1/23/2018
Copyright © ASME. All rights reserved.
From: Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires
J. Dyn. Sys., Meas., Control. 2017;140(6): doi: /
Figure Legend:
Control of the DP in closed-loop. Top: desired angle versus measured angle. Bottom: percentage error of the fuzzy control.

8. Date of download: 1/23/2018
Copyright © ASME. All rights reserved.
From: Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires
J. Dyn. Sys., Meas., Control. 2017;140(6): doi: /
Figure Legend:
Activation of the MP for a sequence of two positions. Top: reference angle. Middle: defuzzification output. Bottom: actual current in the SMA actuator.