'Soft' actuation for dextrous hands – a 23 DOF anthropomorphic hand powered by pneumatic muscle actuators
by Darwin G. Caldwell, Ping Yong Chua, Mohd Zaid Amran
International Journal of Modelling, Identification and Control (IJMIC), Vol. 4, No. 4, 2008

Abstract: The human hand with its complex anatomical and sensory structures forms an exceptional end-effector that is capable of performing countless grasping, exploratory, manipulative and prehensile tasks. Key to the effective operation of this 'hand', in terms of strength, compliance, compactness, speed of finger motions and the safe, secure handling needed to minimise potential damage to the grasped object and the hand itself, is the actuation. This paper describes the design, construction and testing of a 23 DOF robotic dextrous end-effector powered by powerful, yet compliant and accurate braided pneumatic Muscle Actuator (pMA)s. The paper discusses the control and drive systems and shows the hand performing a number of complex manipulative tasks involving dexterity and power and concludes by demonstrating that the hand can perform high speed tele-operated catching operations.

Online publication date: Fri, 28-Nov-2008

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com