Networked Multimodal Sensor Control of Powered 2-DOF Wrist and Hand

Figure 5

Flowchart of the wrist action. When RFID tag information is received and the priority of the tag information is higher than the previous value, the hand posture is set based on the tag information. The priority is set with 2 bits, and the smaller the number, the higher the priority. After the wrist joint angles (pronation/supination and flexion/extension angles) are determined based on the tag information (: roll angle of the hand; : pitch angle of the hand), the work plane posture, and the upper limb posture, the wrist joint starts action when Close_Mode is set and it stops the operation of the wrist joint when Open_Mode is set.