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This paper introduces a mechanical structure and control technique of a second robot finger as a system integration. The finger has been developed as element of a robot hand which has 20 joints and 16 degrees of freedom in order to express fingerspelling. The first joint of the finger is driven by the small DC servo motor and the second and third joints are driven by shape-memory alloy (SMA) wires. The hand system consists of four parts of “hand mechanism”, “drive device”, “control unit” and “man-machine interface”. In order to implement the cooperative smooth motion, the control system is designed based on an experimental result related to system identification, and position trajectory refernce is designed considering time delay on the SMA. Finally, we report the simulation and experimental control results to evaluate the presented system. Figure 1 shows out of view of a robot finger presented as a platform of experiment. The upper picture and the lower picture express the shapes seen from different observing points each other. Figure 2 indicates overwriting waveforms of the response to M-sequence input and the simulation result of the mathematical model which is derived from a system identification experiment. Figure 3 illustrates the block diagram of the second finger control system. The block “Finger” means the second finger expressed by the mathematical model which is derived from the experiment of system identification. The block “PID1” and “PID2” are PID controllers for the first and second axis. The lower block P(s) and e−Ls consist of Smith-method controller with PID2. The upper e−Ls indicates a time delay of which the first axis moves in sync with the second and third axis by the use. The wave forms in Fig. 4 shows experimental results related to a

Implementation of Robot Finger Using Shape Memory Alloys and Electrical Motors