Abstract
A robot finger set for gripping plant tissue without damage or crush was studied and developed. Shape memory alloy (SMA) element was used for actuator to make a hand mechanism small and light without using machine parts. Though SMA element has non-linearity of response, the actuator was able to move its finger smoothly by applying fuzzy control method. Thus, the the finger-tips were positioned precisely and the gripping force wes controlled accurately. The finger set was able to grasp tobacco callus successfully.
