A Two-Encoder Finger Position Sensing System for a Two-Degree-of-Freedom Robot Hand

Abstract As part of a robot hand with two independently controlled fingers each having one degree of freedom, a novel two-encoder position sensing system was designed for each of the fingers. In this system, a combination of a linear encoder and a rotary encoder is used to indicate finger position. The linear encoder provides coarse measurements while the rotary encoder provides fine measurements between two adjacent linear encoder counts. This two-encoder system permits more precise measurements than a system with only the linear encoder. The two encoders are connected to an IBM PC through an interface system. This paper presents the complete design and implementation of this two-encoder position sensing system.