Optimal Position Fuzzy Control of an Underactuated Robotic Finger

Table 3

Rules set.

Voltage	NC	ZC	PC
Position error
NE	NV^(1)	NV^(2)	PV^(3)
ZE	NV^(4)	ZV^(5)	PV^(6)
PE	PV^(7)	PV^(8)	PV^(9)