Replicating Human Anatomy with Vision Controlled Jetting – A Pneumatic Musculoskeletal Hand and Forearm
2024 IEEE 7th International Conference on Soft Robotics (RoboSoft)(2024)
摘要
The functional replication and actuation of complex structures inspired by
nature is a longstanding goal for humanity. Creating such complex structures
combining soft and rigid features and actuating them with artificial muscles
would further our understanding of natural kinematic structures. We printed a
biomimetic hand in a single print process comprised of a rigid skeleton, soft
joint capsules, tendons, and printed touch sensors. We showed it's actuation
using electric motors. In this work, we expand on this work by adding a forearm
that is also closely modeled after the human anatomy and replacing the hand's
motors with 22 independently controlled pneumatic artificial muscles (PAMs).
Our thin, high-strain (up to 30.1
state-of-the-art artificial muscles at a lower cost. The system showcases
human-like dexterity with independent finger movements, demonstrating
successful grasping of various objects, ranging from a small, lightweight coin
to a large can of 272g in weight. The performance evaluation, based on
fingertip and grasping forces along with finger joint range of motion,
highlights the system's potential.
更多查看译文
关键词
Human Anatomy,Actuator,Range Of Motion,Biomimetic,Dexterity,Electrical Engineering,Joint Capsule,Finger Movements,Finger Joints,Artificial Muscles,Touch Sensor,Soft Joint,3D Printing,Mobile System,Shape Memory,Human Hand,Little Finger,Anatomical Model,Rigid Materials,Intrinsic Muscles,Robotic Hand,Flexion Motion,Extrinsic Muscles,Extension Motion
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要