  The task of controlling an underactuated robotic finger with a single tendon
and a single actuator is difficult. Methods for controlling the class of
underactuated systems are available in the literature. However, this particular
system does not fall into the class of underactuated system. This paper
presents a design change which introduces kinematic constraints into the
system, making the system controllable. Backstepping control strategy is used
to control the system. Simulation results are presented for single finger
driven by a single actuator.
