After comparing different robotic hand projects, a problem is identified: when a finger has a degree of freedom, the hand is unable to grasp irregularly shaped objects. This article proposes a solution. The use of a non-linked doubletendon arrangement in the fingers allows them to have free movement; coupled with the use of Inertial Measurement Units to determine its position, ensures that, despite having one degree of freedom per finger, the hand can effectively grasp irregular objects. Additionally, a web application is developed to control hand movements through voice commands. Finally, due to the necessity for these types of devices to be mobile, an optimal control law is used to minimize energy consumption, thereby increasing autonomy when the hand is powered by batteries. As an additional note, the conducted experiments reveal that the movement of all fingers occurs simultaneously, demonstrating that parallel multitasking programming techniques effectively fulfill that purpose.

中文翻译：

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非链接双腱排列机械手的最优控制和抓取

在比较不同的机械手项目后，发现一个问题：当手指具有一定自由度时，手无法抓取不规则形状的物体。本文提出了一个解决方案。手指采用非连接双腱布置，使手指能够自由活动；再加上使用惯性测量单元来确定其位置，确保尽管每个手指只有一个自由度，但手可以有效地抓住不规则物体。此外，还开发了一个网络应用程序来通过语音命令控制手部动作。最后，由于这些类型的设备需要移动，因此使用最优控制律来最大限度地减少能耗，从而在手部由电池供电时增加自主性。另外，所进行的实验表明所有手指的移动都是同时发生的，这表明并行多任务编程技术有效地实现了这一目的。