Conference Paper Intrinsic Muscles of Human-like Robotic Hand using McKibben Actuators

アハマド アティフ, モハマド ファウジ  ,  Ahmad Athif, Mohd Faudzi  ,  鈴森, 康一  ,  Suzumori, Koichi

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This paper presents the intrinsic muscles of a Human-like Robotic Hand (HR-Hand), with a focus on dorsalinterossei and palmar interossei muscles. Three links of palmar and four links of dorsal interossei muscles werefabricated according to human hand anatomy using 1.3 mm thin McKibben actuators. The experimental result usingsingle index finger shows that the robotic hand could achieve palmar adduction and dorsal abduction and assist inflexion of fingers that imitate the actual function in the human hand.
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http://t2r2.star.titech.ac.jp/rrws/file/CTT100745578/ATD100000413/robomeca hand_FINAL3.pdf

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